Yes I agree. U should feel 100% comfortable with urdoc. I will deliver at a hospital where there's 5 different docs that can deliver my baby. 1 of them I was not comfortable with at all so I requested him not to deliver.
If you don't like the Dr then change. At this point it's all about you and your baby. You need to feel comfortable to ask them things and the dr should be able to educate you without coming across as rude or making you feel guilty. Also that's what you are paying for. Some Drs just have terrible bedside manners and aren't good at educating their patients. I'm sure you can find one that will suit you better.
No you need a doctor that makes you feel comfortable and heard. Doctors make most their money with the birth so no doctor will be mad you are switching to them so late :-). I switched at 36 weeks with my second, it was bc I moved but we had plenty of time to get on the same page and create trust. But I would do it as soon as possible. Good luck!