I would take a look at why your panel is so crowded; do you have a bunch of unit heaters hooked up like we do? Or a handful of positions dedicated to just an outlet or two?
Earlier this year we shopped around for a few quotes to expand our full panel so we could swap out our gas water heater to a heat pump water heater, and were quoted $5-15K. That made us take a harder look at our panel to figure out where we could condense and swap. After going through a detailed "OK BABY TURN IT OFF. OK TURN IT BACK ON" we found a few opportunities to combine lighting circuits after swapping out for LEDs, and combined a few outlet areas where we anticipated low power needs. A heat pump, fingers crossed getting installed this month, is only going to cost us 30 amps and 2 breaker positions, and it's going to open up half of our panel because we won't need the unit heaters.