I had midwifery care for all or part of several pregnancies. Babies are born on the way to the hospital quite often. Now maybe it was a lay midwife who rubs the medical establishment the wrong way, but the mother went to the hospital.
There are many many women who get no prenatal care, show up at the hospital in labor and go home with their babies with no legal difficulty in spite of nurses and doctors thinking, well this woman has no business having babies.
Pennsylvania does permit Certified Professional Midwives to attend home births.