Everyone should go to therapy. I don't think I've ever met a person who doesn't need to talk things out, from time to time, with a semi-objective, third party. Most of us were raised by imperfect people trying their best who still made a lot of mistakes. Even people who had really prepared parents probably experienced things which might have left us with some unresolved issues. Go see a therapist. Its not a big deal.
Agreed, it is still largely a question of optics and prejudice. People associate therapy with psychiatry and that anyone going is "crazy". I've long argued that we should come up with a better term. I prefer stress counselor instead of therapist. It allows more natural discussion with others too. "I see a stress counselor and we just talk about how to be less stressed at work and home" is a very easy and non-clinical…
The real solution is the one we've already been pushing for and have had a great amount of success over the years, which is to treat mental health issues with the same importance as physical health issues.