Hey Edith!
I know the progress is glacial, but to me you seem fundamentally "happier" if you will. That is very cool.

And one of the deepest levels of change. Awesome!
If you can google the crap out of this, try googling "Primitive Reflex Integration" and Sally Goddard Blythe; and also Vision Therapy - especially those accredited "FCOVD". This might be where you need to head re the not crawling as a toddler. My special-needs daughter does this, and it has been doing wonders for her.
The "primitive reflexes" are actually a defined set of reflexes that all newborns come into this world with, and as they grow (assuming nothing interrupts the process) these reflexes are subsumed by physical skills and other reflexes that are higher up on the developmental tree. There is a lot that can interrupt the process, and while humans who do not go through the entire sequence in order do grow up and walk and all that, there are a lot of gaps in the brain that are left behind - like dropped stitches in a piece of knitting - and that always leaves its mark in older child/teen/adult functioning.
The exercises are not painful or needing any special equipment or such - they just get in your head and reknit the disordered pieces. What you do need is someone who is qualified to diagnose (the disorders and also the necessary exercises because those who need them are individuals and have individual patterns of retained reflexes and such) and then follow your progress through your personalized series.
You could ask the psychologist, but don't expect too much knowledge - this stuff belongs to the world of PT/OT and the Visual Therapists (I know because my daughter takes ALL of it). In fact, a visit to a really good VT will astound you - they treat an amazing number of disorders with success - please go and read up on it. I think you will find much of help. I know I was absolutely bowled over when I did my own research/visits to a really good VT, and I thought I had seen pretty much most of what goes on in the therapy world...!
SO glad you are still plugging along !!