I Just Need One Domain

I hope it's okay to post this since my goal isn't to buy/sell/flip a bunch of domains.

In 2012/2013 I purchased a domain and decided to let it lapse thinking I'd just buy it again later on when I was ready to do something with it. That's when I learned about companies that scoop up expired domains to resell. So mine was purchased by Huge Domains and has remained there since. I've watched the price hold at $2k for a long time, but it finally dropped to $1k. There is low/no demand for this URL as far as I can tell since they've not been able to sell it. I don't really want to spend anywhere near $1k for it either.

So the question is: Is it possible for me to use a domain broker(or other solution) to get that domain without paying that much? Is it worth the hassle to do that and take the risk that a middle man would hold it hostage to try to get more money out of me? I'd like to spend as little as possible to get it back. I've researched here and there and have read horror stories about the company that has my domain currently so I'm trying to be careful about how I approach this as I don't want the price to jump or for me to lose out on it forever.

I'd really appreciate any guidance on this.