Will a doctor see me at 32 weeks and no prior visits?

I found out I was pregnant when went to the emergency room, thought something else was wrong. Found out I was already 3 months. I have had 2 other deliveries but the last one was treated like crap by my doctor as he went against anything I wanted & the whole process was emotional & the delivery was traumatizing. Decided I wouldn't subject myself to that again. But I would like to be checked out before I do go to the hospital to deliver. Is that possible? Haven't had any complications, the baby is moving like a monster & I am eating and feeling fine. My mother used to work in admitting at a hospital and says that doctors treat women differently if they haven't been examined before they arrive to deliver. So I am trying to set everything up to have a visit before I deliver but am unaware of what to expect.