i'm just a mother, not a midwife, but here goes:
I would consider a homebirth. I am terrified in hospital, i know the adrenalin i produced there in fear WOULD make my labour much more painful and WOULD interfere with the oxytocin which causes contractions and cause my labour to peter out. Hormonally a birth is a lot like an orgasm - imagine trying to have one with a stranger standing at the end of the bed tapping their watch and telling you "the doctor will come and cut you if you don't hurry up and have this orgasm!" - impossible! NO ONE could "perform" under that pressure, and yet millions of women are expected to every day in hospital labour wards and the medical descriptions of the inevitable outcomes of that sort of fear and pressure are written up as failures of women - "failure to progress" "failure to descend" "failed induction" "failed VBAC". Unlike the previous 9 times, you HAD, this time, the very recent memory of the cs, the recovery and no doubt the fact that you didn't want it again - that is GOING to increase your fear and stress. When before had you laboured not only under such pressure but also with the complete knowledge of the threatened unwanted outcome, a csection, so fresh in your mind? Fear causes adrenalin, adrenalin suppresses oxytocin and suppressed oxytocin increases pain.
In my non-medical opinion it is NOT a failure. Your emotions, of fear, stress and worry, told your body, through a complex mix of hormones, that it was NOT safe to birth. Your body, able to respond to hormones (which tell the "truth" - it is scary just now and not the "thought" i must get the baby out) protected your baby by trying to keep it inside you where it would be safe until you could find a calmer and safer environment to give birth. That is an incredibly clever trick for a body to do - stop labour and allow mama to find a safer spot, deemed a failure in our society only because the doctors want the babies to come out when THEY say, not when us Mama's know it's right.
My most recent baby had a true knot in her cord - a fact which we discovered of course after the event. But her whole labour i could talk, if i was thinking (and i was very able to) the contractions were weak. I had to decide to "allow" a contraction then focus on it hard to let it have its full strength. I spent much of my labour sleeping in a dark room and waking to contract or in the bath, alone, with my fingers in my ears so nothing could distract me. Even the last few contractions, where i was pushing, i had to block my ears to concentrate. I really honestly believe that her descent was dangerous and she knew she needed my ENTIRE attention during labour and birth to be safe. I believe she communicated this to me hormonally, which caused my strange sporadic labour (i only had regular contractions for 55mins) and very fast 2nd stage (6mins, and she came OA not turning to deliver her shoulders, in a big rush basically).
So i don't think your body is broken at all. I think that your baby and body worked in sync very well, and that because unfortunately you had to stay in the hospital, breaking the hormonal interactions with an epidural was a very wise choice at the time. Now you have HAD a VBAC, there is no reason to think that in the peace and sanctuary of your own home, with people who love you and a skilled and familiar care provider at your side, you won't be able to birth perfectly joyfully.