In my experience, YES, totally.

First labour 22 hours, gas, pethidine, epi, 2 hours pushing, forceps, 2nd degree tear, 3.83kg (8lb 7oz) DS

Second labour 11 hours, only the last hour intense, no pain relief at all except for the shower, 10 mins pushing, 3 little stitches, 4.27kg (9lb 6.5oz) DD. Left hospital when DD was 2 days old, felt so good.

I felt like Wonder Woman! I was very motivated to avoid the "cascade of intervention" again but after labouring nice and gently all day, got to the hospital that afternoon expecting to be hours yet based on how I was feeling and last time and I was cuddling DD 2 hours later. Did very little in the way of preparation, just read New Active Birth and the "why we feel pain in labour" thread here on BB.