Anyone tried speech therapy?

Anyone tried speech therapy? I never tried to treat my stutter in any way. As an adult I don't stutter often and in some ways I feel fortunate about that, but in other ways it's a double-edged sword. I feel like when I do stutter it's very unexpected both for me and the person I'm talking to, which makes my emotional response to it (feeling ashamed, inadequate, inhuman) more intense. I am now 36 and my inner pessimist keeps telling me that I'm too old to change my emotional responses. I am wondering if anyone here has tried speech therapy? Did it help you? Is it something anyone can attempt at any age?