I delivered at VHC within the last year and was told that the "walking epidural" is not done anymore. VHC's epidurals include a patient-control device (a little button you can push to dispense more of the drug) so you do have some control over how much sensation you feel. I was able to feel a lot even with the epidural because I didn't do any "button pushing" until after my son was delivered (in time for the one stitch I needed). No pain, but I felt my contractions and the pressure of my son traveling through the birth canal, which I think helped me push more effectively (delivered a 9.5 pound baby after about 40 minutes of pushing).
As far as I could tell, there was no way to avoid the catheter. I was dreading it, too, but it wound up being no big deal at all. First of all, by the time you are ready for your epidural (I waited as long as I could, until I was about 5 cm), you are just focused on your labor. Second, they inserted it after the epidural and removed it before the epidural wore off, so I wouldn't have had any idea I even had it if the doctor hadn't told me what she was doing.
Good luck!
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