When you say you should be able to use the small-small gear combination if you want, keep in mind that is only true for a drive train that has been designed to allow it. It has seldom been possible on SRAM systems until the Yaw derailleur was introduced. It simply wasn't a feature that was provided for by the design. You can pay shop A to work on B's bike. Nothing wrong with that. But if you are going to be demanding regarding your derailleur adjustment, you really need to learn how to do it yourself. It is just what cyclists do.

Now for another point: you don't mention whether you have a standard or compact crank, but you do say it looks like there is space in the derailleur for rubbing to not occur. Is your crank compact, 34/50. On many if not most bikes with a compact crank, the small-small combination is unusable even with a Yaw derailleur. It has nothing to do with the derailleur. The chain rubs the large chain ring as it passes by it on the way to the rear and there is absolutely nothing you can do about it. It is simply that the large chain ring is in the line going from the small to the rear small cog. That doesn't happen with a 39/53 chain ring combination because the difference in teeth between the rings is only 14 teeth instead of 16 teeth. In fact on many compact crank bikes the TWO smallest cogs can't be used with the small chain rings. Check to see if that is your problem.