I am reasonable sure that I need to clean the connection points on my lens/camera…

1. I first noticed an error with my D7000 where i can focus, and take a photo however I need to repress the shutter release to re-ingage the shutter.
2. Using my brand new D610 I sometimes get a message saying that the lens is a non-CPU lens (it is)
3. Also when using new camera I am having trouble locking auto-focus at 200mm on my 70-200mm.

4. after following some advise via AP I cleaned the lens with a rubber which seems to resolve the issue.

HOWEVER, after about 200-300 shots one or all of the problems happens again. So, i was thinking that this means that there is some more stubborn 'dirt' on the connections that needs a better clean.

Is there another way? Or should I take my gear somewhere to get it cleaned and if so how much does that usually cost?

Cheers
danny