No there is a solution the solution imo is to let go and have that mild stutter, as long as you can carry a conversation or get your point across pretty easily with mild stutters then you're good. For me, the problem is when your stutter is so severe people can't understand what you're saying and you yourself always feel mentally and physically tired out from trying to speak. Everything you said is spot on tho, i also believe the real cause of stuttering is neurological at its core