How on earth are people actually doing vaginal delivery with multiples? Or actually in general?

I go to the MFM every 2 weeks for cervical check and fetal fibronection test. Once a month from growth scan. The transvaginal ultrasound and the swab for the FFN has become increasingly overwhelmingly painful. Which I find confusing because early pregnancy it was all about the transvag ultrasounds and that never bothered me too much and now it feels so extreme. The doctor today said it’s normal for it to become more painful the farther along because of hormones or something. Which leads me to my question. If that was so painful, how the hell do people push out a human baby with that same hole??? How?!?! Can someone please tell me that epidurals are that incredible and magical? I may get to choose between c section and vaginal delivery, and I just can’t imagine living through vaginal given how painful just the stupid ultrasound was. Do drugs work that well? My obgyn says she’s happy to reach in and pull out baby B by the legs if baby B isn’t head down, essentially turning me into a hand puppet. How does a person live through that????