A stretch and sweep won't do anything unless your body/bub is ready and you're really close to labour anyway. So don't be too concerned about it being major intervention/interference because it's not

I had one done at 37w5d with DS and it did nothing. Absolutely nothing at all, and I was 3cm dilated and had been losing plug for a week when I had it. In the end it's up to you of course but my feeling by that point was that it couldn't hurt, since I was going to be induced at 38w anyway and I wanted to give my body a chance to start on it's own.