I guess it's the problem with most modes of care in Australia - it's a bit of pot luck as to who is there on the day. I'd certainly expect these things from my midwife, but probably not if we were going the hospital route again without our own midwife. Not because they won't do it - they may - but because I couldn't be sure till we asked, if that makes sense.
A doula can certainly help you with ideas and support through the labour, too.

Maybe try not to get too hung up about where your baby is. Babies can be in 'good' positions or 'bad' positions but it doesn't always correlate to the labour and birth. But, having said that, maybe try stairs, lots and lots of stairs.

It sounds like you are very well able to labour under difficult circumstances - I hope you breeze through this time.

ETA - just a thought. augmenting a difficult labour due to malpositioning may not shorten it, but make it less endurable.