You don't want to cover the grass too much because it will hamper its growth. I ideally look for
enough organic matter to where it falls between the blades more than it covers them up entirely whether that's in the form of leaves, blades of grass, manure, or compost.
I used to work landscaping and had to run those dethatching/aerating machines and I wouldn't resort to using them unless maybe I moved in somewhere where the lawn was brutally compacted and abused (even then I would probably rather plant edibles anyway). We would mostly dethatch/aerate to reseed lawns that weren't doing very well and had been under "conventional" care (neglect+mowing with bag+synthetic fertilizers/pesticides).
In this case of the fairly healthy sounding lawn I would make sure the grass can get through the layer of mulch and wait to see what happens. Eventually you could add light layers of compost to your yard and/or some amendments like soybean meal,
chicken manure, etc which will continue to nourish your soil food web and do your aerating for you like Dunkelheit mentioned.