With my first I was induced medically - cervidil tape & balloon the night before, then AROM & synto. I had some gas towards the end, but no other pain relief.
As I got to transition, my son went into distress and I ended up with a forceps delivery & episiotomy. He was fine, however.
I believe the main reason his heartrate showed signs of distress was because I was distressed. I had been coping ok, but then was made to lie on the bed for continuous monitoring, which meant I could no longer move freely. I remember this as being extremely distressing. None of our medical carers seemed to notice this connection, nor did they try to help me at all beyond offering drugs.
I believe this birth experience was more traumatic than necessary for both myself and my son. I was disempowered and disrespected. And ultimately disappointed in myself and my caregivers.

With my second I had a spontaneous labour and planned a homebirth. I had no drugs.
DD's heartrate showed signs of labour (which was prolonged) so we transferred to hospital. Turned out her head was sideways so I needed OB assistance and an episiotomy to deliver her. I then had a PPH.
Despite being a lot harder physically, this birth was much more satisying for me. I feel a lot better about it because I know that despite the complications, I gave DD the best birth I could. I do feel some disappointment that I didn't have a normal birth, but that was something that couldn't be controlled this time.