Your answers point to a relationship with real strengths and a few sore spots – some recurring friction, some patches of distance or frustration, but a foundation that’s still intact. This is an incredibly common place to be, and it’s nowhere near a lost cause.
On whether you need counselling: you might not, and you might find it genuinely useful – both are reasonable answers. The things you’re describing are exactly the kind that can quietly entrench if they’re left, or shift fairly easily with a bit of focused attention. The fact you’re asking the question at all suggests part of you would like things to feel better than they do.
If you’d like to nip the recurring stuff in the bud before it hardens, a few sessions with a relationship counsellor can be an efficient way to do it – couples tend to get unstuck faster with someone neutral in the room. No pressure either way. It’s there if and when you want it.