I lack privacy and boundaries
That sentence alone can be just your self critical part. I think anyone, who wants to be a therapist or human helper, can be. If you can read, absorb some theory and learn few communication techniques, the rest are intrinsic (being human) such as your relational level, respect and loving humanity in such you are empathetic and can walk along a person. Will you fall back to your wounded areas, yes of course, we all can....no one is immune to hurt, anger and hostility but...just as you are here and taking care of you, yes you can also take care of others.
A lot of times, those therapists that helped you most along the way, were those who just got you as a human....it was not they did not have personal issues (god knows what truly) but they just got you. You may get those dealing stuff that others do not get. and also you may find too much and learn so much about you and even heal through the process yourself as a side thing.
Explore more, volunteer helpline or with teenagers and get your foot wet to see how it lands on you. Today, there is so many ways to help others...including even a site like this~
I am changing career from corporate to therapy and it aint easy. I have several breakdowns...and still find hidden aspects, and deal with extreme inferiority, childhood trauma, my dissociation is getting better, and all other bullshit but I am passionate about body and mind, its relations to each other, to others and to the world at large. As much as I hated humanity growing up, I just as much love helping others to see yeah you too!
And I click with some more than others....so that makes sense to me! also it means some people click more with me than others...I am not jackie of all trades so I stick with that.