From experience, yes. I was stuttering from about the same age as you until about a year or two ago, 23-24ish. It was a gradual taper off from my late teens into my twenties, and I think it was largely psycho-somatic in nature. More public speaking, a general uptick in confidence, all unironically helped to render it virtually mild at this point, if at all. Separate articulation issues remain, but those are from different causes. I did speech therapy for years, and it mildly helped in my case when I actually applied it. I don't think you can eradicate stuttering with therapy, but you can better manage it through their methods if applied correctly. I don't know about medication, and I would not necessarily try it. My advice would be basically to work to mitigate and overcome it. If it goes away on its own, good. If not, you'll still be able to better manage it and feel better about yourself. Experience is your best teacher.