I [32M] have communication issues with my gf [30F] and it's making me reconsider some important choices

Hello all, I'm kind of stuck at the moment and would like to hear some opinions/advice on how to approach this issue.

Basically what the title says - I believe our communication is becoming really bad. We've been together for a bit longer than 3 years. We are originally from towns 3 hours apart but live in a town that's in the middle of them. I agreed at the beginning of the relationship that we would move to her home town and we would live there after a certain period but due to this issue, I'm beginning to rethink this move (which I'm 95% certain would be a dealbreaker for her).

I find myself rolling my eyes and sighing quite often to a lot of things she says, I quite often criticise a lot of things she does or says which is also leading to her being afraid to say much. I hate myself for reacting in this way but I honestly can't handle it anymore. It's like talking to children but way more exhausting because with children you can adapt to it and know what to expect but you don't expect adults to talk this way. Everything has to be a mini drama, she often talks in baby voice (which I already mentioned I dislike and I don't think it's appropriate for people in 30s to use it when communicating to each other). I have grown apathetic to a lot of things she mentions because everything is so minor and something a regular adult should be able to handle on their own. Just yesterday, I parked her car in our parking spot in reverse and she immediately started going on about how she might not be able to get out and would I get it out of the parking spot (there's quite enough space to do all kinds of maneuvers). This may not be the best example as I know some people have issues with driving but a lot of her "issues" could be solved with just pausing and thinking for a minute or two. It's becoming really tiring and I hoped she would grow out of that behaviour by now. Her mother is kind of the same, always making up all kinds of non-issues and I can see her dad is also extremely tired of it and spends most of his time outside of the house, probably to avoid all of it. That is not the future I want but I believe we are heading that way.

I know my thoughts are all over the place and I'll be answering questions but please help me figure out the next move. Is the next move counselling or should we just end it (the thought of it is breaking my heart but living that way is unfair to either of us)? Is there a way to fix these issues? How to approach any of it?