Welcome! We don't bite, join in.
I never did perineal massage. So I can't help you there. Never really tore, either. I don't think it will hurt anything, though.
Do you have to pick a doula from the practice? I would think one from outside the office would be more unbiased and more on your side. That would definitely help. And make sure that your partner or yourself is good at sticking up for yourself and advocating. Remember, this is *your* birth, not theirs.
I would also drink RRL tea-for now the Traditional Medicinals Pregnancy Tea will do if you can not find bulk herbs. I would make sure you get enough exercise-long walks, yoga, etc. to keep up your stamina.
Evening primrose oil taken the last month will help your cervix soften and dilate. Lots of sex, as well.
It's unsurprising that you didn't make much progress at 36.5 weeks. Why so early? Are they planning on it this time again? I would not suggest the cohoshes or castor oil for VBAC, especially before 40 weeks, so it might be a good idea to read up in the book Pushed or go to the VBAC forum on here and ask about safer induction alternatives if you do face it.