I think as long as you have a midwife that isn't scared of "big babies" (and 9 lbs is NOT "huge"), you should be fine. The problem with so-called "big babies" in a hospital is when you have an OB who is afraid that anything over 8 lbs will get stuck and require a C-section. And frankly, that's just silly!
I have a friend who birthed a 12 lb baby at home - no tearing! I'm jealous. My baby wasn't even 4 lbs and I tore.
We all said she gave birth to a 3 month old - he was a chunk!
But I think you CAN do it, and that you aren't going to have a 15 lb'er or anything.
Also, if you really wanted a homebirth or even to birth at the Farm, it's not too late.
I know of people that have transferred care to the Farm last minute. But it does sound like you'd be fine with the midwife you have.
Definitely look into alternate birthing positions. Your midwife will hopefully suggest these to you anyway - like hands and knees, etc.
My DS probably would have been close to 9 lbs if I'd gone full term, and I would not be surprised if I had a 9 lb baby this time around if I'm full term. Like you, I'm 5'9" and have "good birthing hips" as I've always been told during gyn exams.
And DH is 6'5", so I'm not likely to have a shrimpy baby. DS was big for his gestation when he was born early - most babies his gestation are closer to 3 lbs, and he was almost 4. But I am completely confident in my ability to birth whatever size baby God gives me, whether I be in the hospital or out-of-hospital (I have to go to TN to birth out-of-hospital... I'm an hour and a half south of you in AL