Unless you are rubbing the paint off the top tube, it’s not a problem. My feet point out. A lot. With cleats pointing forward, my knees track inwards. I corrected it with a shim, but it felt no different. Took the shim out.
Pedalling is a low force, high repetition activity that can tell you pretty quickly if things aren’t right. A minor cleat misalignment will have my knee tell me in a few miles. Once correct, there should be no pain. Regardless of tracking.
I saw a rider from behind with extreme outward tracking. As I passed I noticed that he had the largest legs i’d ever seen. To go with a huge frame. I just thought “good for you out on a bike”. If it isn’t uncomfortable, then there is little reason to be concerned.
Phil Burt’s book is excellent.