For me, I'd say no. I had two fantastic birth experiences, however they were both rather quick so there was never any time for any 'trauma' to really occur.
I was probably more worried the second time, knowing how the pain felt the first time, but constantly reassured myself that if I could get through it once, I could again

Birthing is like becoming a parent though (funnily enough ) but in the fact that until you've experienced it, I don't think you can truly ever understand what it's like/how it feels/etc until you've been there and done it, no matter how much you read/research/prepare. I think this is perhaps where some of the 'trauma' comes in because despite best intentions, it's never likely to be how you might have imagined it to be ITMS