Before having Phoebe I was of the opinion that it was just the hassle of being in hospital and the car ride that made me want a HB (which is why I didn't persue it further - DH was going to take a lot of convincing, and finances were tight etc. I chose hospital because my reasons for HB were not overwhelmingly important to me, not enough to cause tension between DH and I).
However, were I to give birth again (not planning on it, but lets just say the unexpected happened) I would insist on a HB because:
1. I had a similar experience to you - arrived in hospy and was in transition already. Why go through that painful car ride when you've done all the hard yards at home already?
2. The MW was lovely, but she hadn't seen my birth plan. As much as DH tried to communicate what was in it to her, I wish I had've had a MW who was aware of my wishes. I ended up birthing semi-reclined again. I wasn't in a position to argue with her when she told me to hop up on the bed so she could see where we were at. I stayed there waiting for her to examine me for what felt like ages. By the time she examined me Phoebe was on her way. I wish I hadn't have had to get up on that bed at all. I'm experiencing some physical problems that I'd lay money on being caused by pushing uphill.
Also, she let me try for a physiological 3rd stage, but she was really reluctant to. While that wasn't a problem really, it was just extra stress that I didn't need while in the throes of labour.

I don't feel violated by the care I received, I just know the care would've been tailored to my needs had I have had a HB, and not dictated by standard procedure. And if there's a next time, a HB's what I'll have.