Aerating the lawn - DIY or pro? and when?

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Hey, I bought my house three and a half years ago, and I haven't had the lawn aerated. I think it's due, but I know I'm early, but I'm just trying to get opinions on the best time to aerate, and whether I can do it right renting a machine from the big orange box or if I should just have a pro do it for me?
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