Anyone here reach complete fluency or near complete fluency

Anyone here reach complete fluency or near complete fluency Hello Low-Mild stutterer here, I have noticed when I premeditate what I am going to say I stutter the most, this is most evident when I go to the shops and ask for stuff, for example I would premeditate what I would say "Can I have a Lipton Ice tea" or "Do you have Lipton Ice Tea" and when I do that I tend to usually stutter, its not too bad, just blocks but it can get annoying and I don't think they usually notice, since I have 0 secondary movements. ​ Usually when I premeditate what I am going to say I stutter. I believe I have been stuttering since 7, it was never too bad, and I am thinking of taking speech therapy. Weird that I never stutter when talking to small children or on the phone. ​ Has anyone here achieved complete or near fluency, to the point their stutter never bothers them any more. ​ ​