My first pregnancy was through a birth centre and they only had a dusty old pinnard up on a shelf to use when I said no doppler. I had different MWs every appointment and generally they never found a heartbeat. I figured the fact that baby was kicking was enough and we never worried about it.

Second pregnancy I had an anterior placenta so as much as my MWs knew what they were doing and tried hard, most of the time they didn't hear a heartbeat either. Again we didn't worry about it and just felt baby's movements.