So, it is not always the case that after the first one the labor is easier and shorter. If it is, it didn't make a difference with me. I went in on a Monday at around 3 am, and again, as with my first, I was sent back home. Easy as pie. I had epidurals both times and have no regrets.
Different things work for different people.
I had an epi with both my kids. But not everyone is. Then if you find that you want the epi once you're in labor, don't hesitate to go for it. I don't think the epi affects your child at birth at all. I knew I wanted it with both kids.