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If your lenses have never been CLA'd (Clean, Lubed, & Adjusted) then they may benefit form a service. This is above and beyond a simple adjustment and may entail replacing worn parts, out of alignment parts like lens mounts, and possibly lens rubber.
As fars as adjusting a lens to a body, you have the power to test and adjust the AF yourself. Print the chart at http://focustestchart.com test on a tripod in daylight outdoors and use your cameras AF Fine Tune function to ensure that wide open at a 'normal' for the lens shooting distance your AF is set correctly. You can only have one setting per lens so the 80-200 and 35-70 may need an average or best consensus setting. This is no different from the type of AF adjustment Nikon can do themselves.
In short... it depends on how well worn your gear is and how far you're willing to go to make it perfect.