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JamesQGM
Sounds like it would help-you might not necessarily need insoles as some pedals have greater 'float' than others which permits a bit of natural movement in your ankles and knees. The angle you have the cleats set up in your shoes might be a bit extreme and your inward leg movement is trying to compensate however, really difficult to say.
Things like saddle height obviously make a difference too. Your knees shouldn't really be hitting the top tube with a normal pedal action at any rate, which kind of suggests that the bag isn't the issue. You can always fuck off the frame bag and go with a low rider front rack and keep your natural pedal flair!