Just wanted to offer some support. I hope this isn't stressing you out too much. Are you communicating well with her? Does she know you have these doubts and misgivings? Sounds like you're well prepared, so having her expertise for positions and comfort measures might not be as important as it would be for someone who hadn't done the research you have. But you'd hate to feel like you were evading or fighting someone at your birth.
Best of luck to you, I hope you and your midwife can get to a better place in the next few weeks. My midwife and birth class instructor have both said that the semi-reclining position encourages the baby to turn posterior (they tell me to stay away from the couch and the recliner, and to sit up with good posture), and that squatting is often the best position for pushing/not tearing.