I can answer this one as all of mine have been born at just about 35 weeks. If dealing with a healthy baby coming from a healthy mom you have a reasonable expectation of the baby doing really well. In the case of two of mine, they were "take homes". They had no reason not to be with me while in the hospital, although my youngest needed a little observation time for low blood sugar at delivery (born in the middle of the night after a long day not intended to involve birth). They were on the small side (5 lbs) which is the normal size for this gestation, and needed no support for breathing or eating. My middle child had a rougher start, probably directly caused by the preeclampsia, and consequently needed ventilator support and lung surfactant and some other medical interventions during her first few days of life. After that, she took off running. Developmentally you are pretty much right there. Sometimes there may be inital problems with eating, remembering to breath, and maintaining body temperature but they are usually rapidly resolved.
Umn, I hate to sound like a nag, but while the monitoring of BP may be reassuring to you, the liver enzymes and platelet count (which are very important) cannot be evaluated without the laboratory tests (blood draw). For that alone you should consider going to L&D, just her BP and the gestational age of the pregnancy will prompt these from the staff there. The information from this kind of test can have very important ramifications, not everyone "feels" the pain associated with incipient liver failure, and lowered platelets could put your wife at risk for hemorrage. I'm sure that your wife is very concerned about the baby and perhaps a little bit about "compromising" with respect to her delivery plans. I know I would be if I were in her situation, I just thought I had a little bit of food poisioning when I went to the hospital.... but sometimes the unexpected and unplanned for happens.