Such places do exist – google ‘walking gait assessment’ or ‘sport orthotics’ and you’ll find so much choice you’re liable to end up more confused than you were when you started.
However, a bit of basic self-assessment never hurts. Check that you walk with your feet pointing in a straight line rather than splayed outwards or pointing inwards. This (called pronation) puts all manner of unhelpful torsional stress on your legs, knees, hips and lower back and is easy to correct; just keep it in mind when you walk that feet should point straight ahead.
Insoles can help (I use footreviver ones) but nothing helps quite so much as making sure yourself that you’re walking right.
Beyond that basic self-assessment, if you still have issues then you may need to get checked over. That may cost, which is another benefit of doing the self-assessment first.