My now 3 week old Dd measured large at a scan at 34 weeks. I got checked again for Diabetes because she was measuring over 2weeks ahead and in the 90th percentile.
Fast forward to full term .. I went into spontaneous labour. Delivered vaginally (VBAC), no epidural, 1 1/2 hrs pushing unassisted.. Only a small graze and she was 9 pounds 8 ounces. So yes it can be done. It's amazing how much your body is capable of if we trust it. I was freaking out a little about how I would do it after that scan. But I'm assured they all hurt- even the 6pd babies. So try not to over think the physicality of it all and trust your body and baby to make it happen.