You did exactly what you should do.
You can't push a breech back in, you need to get the hind legs (making sure they're connected to the tail, not another lamb) and deliver it as quickly as possible (in case it inhales when still inside), then check for and deliver any other lambs that are stuck behind - because they could have been waiting some time.
I think you get a 6th sense eventually when something's not quite right - BH certainly has one and I am learning to not ignore my intuition. But when you're starting out, every one is different, and you can end up intervening too soon, rather than the converse.
Don't beat yourself up, it happens.
Reading your post again, the only thing you could possibly consider is whether you can make an area in which you can catch ewes more easily if you need to, that's easy to drive them into, and get them used to going in there, so you can catch one more easily if you think there's a problem. But I have to say, many of us lambing outdoors have situations in which we can't catch a ewe that doesn't want caught. I certainly do, with my fleece flock; there are all sorts of bits of woodland, hillocky bits I can't navigate on the quad nor run on, places they can dodge.