My fear of the effects of the epidural drugs on the baby far outweighed my fear of the pain. We also followed the Bradley method, and it doesn't take the pain away, but it does take the fear away and the breathing exercises did help lessen the pain considerably. The classes (and the book) were great in reducing my husband's anxiety over the birth too, and knowing he would be strong for me, and not a blubbering idiotic mess over it, was important to us.
You have had two births with some amount of trauma involved, try not to focus on those births. There are things you might be able to do to avoid some of the interventions. But those births are in the past, and many women will tell you that each birth is different, you can't (totally) anticipate what will happen based on past experiences.
But what struck me most about your post was your statement that you are "36 weeks, 3 days pregnant". First, chances are your date is off by at least a few days, possibly as much as 2 weeks. Focusing on the due date can stress you out, focusing on what can go wrong can take away from the joy of birth. I completely understand how DONE you probably feel right now, and anxiety about the birth is easy to fall into. You don't necessarily NEED an epidural, but if it will make you feel safer, by all means plan for one, you don't have to use it.
Finally, you don't know how this is going to go. You might need another c-section. You might deliver at home quickly. You might labor for 2 days. I had to come to a place before all of my births wherein I could accept any outcome and be ok with it. I spent some time doing visualizations of all conceivable outcomes (including the really bad ones) and preparing myself emotionally for them. The shock of something unexpected, for me, is harder to deal with than anything else, so this helped me prepare mentally. The rest was out of my hands, and I accepted that, too.
And yes, the thought of the pain of labor was a part of the last few weeks of all of my pregnancies (we have 4 children). But the best thing the Bradley Method taught me was to remember that it's pain with a purpose, not pain because of injury or because something is wrong. It made me feel like a warrior, not like a victim.