I had a doula, and absolutley loved it, and will definitely be having the same one the second time around, especially like you, we want to try for a vbac. Even DH said she was worth her weight in gold cos we had no idea what to expect, and she was there as an advocate for us.
To address some of your concerns:
1. I am the most self concious person, and don't do nudity at all! But during labour, all those fears disappeared to a certain extent, and it was just business as usual for her.
2. Ours cost $600, and the way I looked at it was I wasnt going to a private hospital, and I wanted someone there for me.
3. Of course they travel, Doulas love their work, and a bit of travel isnt going to stop them being at the birth.
4. Photos, i assume yes, I'm not sure about this as ours ended in a C-Sec, but I dont see why not.
You know you can book in just to have a chat with one, and see what they are all about and if you are comfortable with them. Well thats how mine worked anyway.
Hth, and good luck with your decision

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