Attaching pictures of my "before" and "after" breaker panel for reference.
Before:
View attachment 3420
After:
View attachment 3421
I added the new tandem breaker by myself... total cost was under $100.
When I looked at your breaker panels... I think there are way too many dedicated breakers for very low-current circuits. For example, there are separate breakers for outlets and lights in the same room. I guess this is good, if the breaker for the outlets is tripped, the lights are still on...

With energy-efficient and LED lights nowadays, these lights barely draw any current on the circuit.
If you look at the breaker panel for my house, built in 1992, most rooms have only one breaker for both lights and outlets. The only exception is the dedicated breaker for all GFI outlets in the bathrooms. I don't have sub-panel, just a single panel for the entire 2-level house.
If I am you, I may explore the option to combine 2 low-current circuits into one breaker to free up a space. If you can do this for 4 circuits, then you can free up two slots for a new breaker. Check with the electrician to see if this is possible.