Frankly, it depends...
Yes, in *theory* it is possible to have an inexpensive divorce in your situation, maybe without a lawyer.
BUT that only works with people that can be reasonable (and if you can work together you wouldn't be divorcing) OR when one party is just willing to cave and bend over backwards to get out of a relationship.
Costs go up NOT because there's a lot of marital assets/debts to quibble about, but because at least one party is willing to fight. It might be worth it, or it may be just an act of vindictiveness, or, most tragic of all, it might be that the party is just oblivious of how the cost-benefit analysis works out. (How much you're going to get vs how much you're going to pay in legal fees.)
Judging from your other thread, you may be dealing with some vindictiveness from the other party... How much are you willing to walk away from?