I just recently purchased a used bike, to make sure cycling is something I would be interested in without jumping in with hundreds of dollars. As a result of this, I have begun to notice a few things affecting my biking and was curious if anyone had any ideas.
First, from what I can recall, my tibia is off about 45 degrees, so in the position that both legs are facing 'forward', my right foot is point out (away from me) said 45 degrees. As such, when I turn that foot in to face forward when biking (foot on the pedal), it forces my leg to bend inward, causing rubbing against the bar. So too does my foot, due to the front-facing position on the pedal, end up slightly tilted sideways, away from the bike.
The only thing I could think of to fix this is a bike that doesn't have a top bar and a larger pedal.
The second issue is clipless pedals. With my foot facing forward as mentioned when biking and my leg leaning in like that, I /cannot/ twist my foot inward more than half a centimeter or so. I was told there are some clipless pedals that can disengage in various directions, but I have yet to find any.
I'm currently using a mountain bike, but due to how slow it is on the road, I hope to move to a hybrid at least (or hybrid that leans toward road use, yet not a full road bike.)
I have tibial torsion in both legs, although not to the degree you have it. As a result, I have perpetual knee issues. If you cannot rotate your foot inwards, you would likely have to get some pedal extenders (google for kneesavers) to give you the clearance off the crankarm to disengage the cleat. Although I actually can't disengage with an outward foot change (crankarm is in the way), I would expect it is possible given that most pedal systems have symmetrical pedals and cleats, although I can't test my own pedals to confirm.
Possible solutions are the kneesavers combined with the model of speedplays (can't recall at the moment which one it is) that gives you the maximal amount of float to mimic the outward turn of your foot), or platform pedals with Power Grips.
I would definitely do what it takes to duplicate your natural stance on the bike, as I can see knee and hip issues arising from being forced to turn your leg inward like that.
Best of luck, I've been fiddling with my bike for almost a year now trying to figure out what makes my knees happy, and I am still not quite there yet.