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Nope. I've not seriously considered one simply because I don't really get pain riding but I'm also aware my bikes could probably be better set up.
My house mate recently went for one for his knee pain and my gf is booked in for the same reason. I wear arch support insoles in walking boots but not on the bike and I don't have custom ones. I would suspect a bike fit would suggest insoles as well as any other adjustments.
As for cleat position I just have them set up as I always have and because i've not had discomfort I've not experimented with different positions
tl;dr i should probably get a bike fit.
SPD. I have the cleat position set so my feet sit as far out as possible.