At this point in DnD evolution a dedicated Rogue is not necessary. Other classes have access to Lockpicking/Trap Disarming.
Your Paladin could that person - take the Charlatan Background ... and besides Sleigh of Hand you'll get Deception to put your off-radar CHA to Good Use.
As to Healing - there are so many Healing Potions that Spells are for emergencies, specifically the best spell in this category - Healing Word. It is an Extra Action and works half way across the map
