Kristopher,

Autumn Blaze are very pretty maples, but have major, major weaknesses if they are not planted correctly. You are correct it can take years before issues arise.

It is hard to know for sure your course of action, it strongly depends on how thick those circling roots were. If there were numerous roots thicker than a pencil and woody, then yes, it might be worth it. 

If it is indeed very severe when you planted, you can re-dig the tree, use a box cutting method, then replant. This is not a risk free course of action, unfortunately.

Hopefully the area is safe to dig and you are aware of utilities/etc. If you decide to do this, make sure the roots are never dried out during your "surgery".

Also, take great care not to damage the trunk. Autumn Blaze maples have very thin bark prone to damage. This damage can fester and also cause issues down the line.

Aside from removing the outside inch or so of roots, I would expand the planting hole, it should be two to three times the diameter (not depth!) of the container the tree came in. Also it is imperative that the tree is not planted too deep and have a mulch circle to fight back the grass. Grass will out-compete young trees for water before they are established. Follow guidance for watering, as the summer could be drier this year.

Best,

Shane