In view of my good experience with my hospital in the US and the people that gave me care there (albeit not with L&D) I refuse to believe that no good hospital (i.e. one exercising restraint in interventions and providing a supportive and warm environment) can be found in the US.
No, not every birth in a hospital is going to be an awful experience. The first birth I attended as a doula was in a hospital, like I mentioned above. It was actually a very good experience, all around. However, the mama was under the care of a CNM, not an OB, who was hands-off and really trusted the mama's ability to do what she was made to do. Aside from the EFM (which didn't seem necessary but what do you expect, it was a hospital), there were no interventions.
It was also in this mama's favor that her labor was FAST. From her first contraction to the birth, not more than 9 hours had passed. From when she got there to when her son was born, not more than 3 hours had passed. There was no time or need for interventions. But if she had been laboring for the more standard 20+ hours, then they probably would've wanted to hydrate her with an IV (which limits movement) and administer pitocin if she wasn't "progressing" fast enough for their liking (which can make contractions unbearable)...which would likely have gotten her an epidural...which might've won her a trip to the OR.
That potential scenario is why hospitals can be awful places to give birth. You're more likely to be on the clock, especially if it's busy and you're hogging that bed. Your OB (even CNM) won't be with you the entire time...if they're even there at all, as oftentimes you aren't attended by your OB/CNM but whoever's on call. The nurse will be an overworked stranger and you'll get a new overworked stranger if you're there for a shift change.
Some people do have good hospital experiences but it's a total crapshoot and I'm not willing to risk it. The odds of something going wrong during labor are slim. The odds of hospital protocol forcing something to go wrong are pretty great.