The reality is the chicken does it better than we do. We have to fiddle around with humidity and temperature because eggs were designed to be hatched in nests by hens. There was an article on one of the threads about how hens and the chicks in the eggs are constantly communicating with each other from pretty early on, so the hen moves the eggs around to speed up the ones that are developing slowly and slow down the ones that are ahead of the others to make sure they all hatch close together. We cannot match that with even the most advanced incubators.
Just today my mother and I were marveling that my Buff Orpington is such a great mother. This is the first time she hatched eggs, and aside from one that she broke when I first gave them to her (my fault, 10 eggs is a lot for one hen), she had 100% hatch. She is a hatchery bird, and was raised by me from the time she was day old, so she has no role model for how to do this, but she does it flawlessly. Her chicks are over two weeks old now and growing like weeds without heaters, draft shields or chick starter. No pasty butts here!
I think good mother hens intuitively make many small adjustments based on tiny changes in the eggs and environment, so having less than perfect temperatures or humidity does not have as much of an impact as it does in an incubator that has a one size fits all approach to environment.