I would recommend learning to do it for yourself as soon as possible! Nobody knows what your favourite setup is better than you do. You may want to go to a friendly shop for help the first time, but don't ask them to tell you what to do, ask them to help you achieve the setup you want.
Ignore strictly prescriptive advice about the exact number of thousandths of an inch (or millimetres ) to measure at the 12th fret and similar rubbish: while you play, find your own preferred setup - as in, the setup you are most comfortable with - and then learn how to implement it on your bass(es) and how to maintain it when the season changes and the neck relaxes or tightens. As I said, it's a matter of trial and error: you may think that a certain setup fits your playing, and then discover that it doesn't, so it's best to be able to change it on the spot and keep testing.
You only need to go to a luthier if there is a problem such as a warped neck, a fret coming off, a serious dead spot, a defective machine head, malfunctioning electronics in the pickups, or similar. (Those problems aren't very common, even on relatively cheap basses.)
I did my first setup on my own after googling and checking out a few links similar to the first I mention above. It's easier than it looks.