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My right knee always went in a bit and I ended up having itb issues. Turns out it was a combo of muscle imbalance, right glute not firing as much as the left, saddle a bit too high, saddle too far back and no arch support.
Right knee still goes in a bit, but nowhere near as much as it used to.
Tl;dr, a bikefit might be a good idea :)
Edit: if you're gonna mess about with cleat position, I'd strongly recommend reading Steve Hogg's bikefit site and the article on there about cleat fitting. A little preparation and knowing (roughly) what you're doing will help a lot.
TurtleRecall
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.