Sounds like your body is doing a great job of getting ready. These runs of contractions are preparing your cervix. You will go into labour when you are ready. Everything your Dr says is advice they don't hold the power to allow or disallow, you do. Full term pregnancy is 37 to 42 weeks and you have lots of time to ease yourself into it.
The research out out there on VBAC does not recommend any form of induction. A drip artificially contracts your uterus and this is way more likely to cause a complication than if you do it naturally.
Nipple stimulation in the bath for 20 mins a few times a day is a great way to produce oxytocin. As well as intercourse and cervix fiddling
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