All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah and that Muhammad is His slave and Messenger.
It is not permissible for you to enter the delivery room with your aunt if this necessitates seeing what you are not permitted to see from her. This is not because of what your other aunt said to you, such as being not married and that this might affect you in the future. But it is because of seeing her ‘awrah (parts of the body that must be covered in Islam), and this is forbidden except in case of necessity.
For more benefit, please refer to fatwa 84257 and 100480.
If an act is forbidden, then having a good intention does not make it permissible. A good intention does not render good what is evil.
Allaah knows best.