From what you said your daughters birth sounded like a very mild case of dystocia and her Erb's Palsy would of been a result of the Dr pulling her to get her out.
Often knowing your at risk of having another shoulder dystocia with your next birth (or third or 4th etc) is enough to notify your care provider to have you in a position that will facilitate birth by allowing your pelvis to be as wide as possible and preventing the shoulders from getting stuck again. This alone is usually the best possible prevention. Of the bad dystocias I have seen they have always been the ones you are not expecting. The ones you expect usually don't happen as your doing everything you can to prevent it happening and the birth is then very straight forward.
Also biggers babies don't neccessarily mean your more likely to have a dystocia with it. Sometimes you see a much smaller baby then the previous one get stuck when a much bigger one came out without any problems .