It's not an issue of float the OP is referring to, or one of heel-in or heel-out, or Q-factor. It's a matter of pronation--the foot is tipped inward. It's not level, in other words. I have the same issue.

There are shims that go under your cleat for certain styles of cleat--Look and SPD-SL come to mind. The shims tip your shoe outwards. See a bike shop with a good fitter for these.

For other reasons, I use plain old mountain bike style SPDs. For these, I have to put shims in my shoes under my insoles, and I use orthodic insoles on top of them. Specialized dealers have under-insole shims. (I hear Trek dealers can get them too.)

Find a good running store for orthodic insoles. I'm fortunate that the distributor of PowerStep insoles is right on my commute.

It took a bike fitter to tell me I needed orthodic insoles. My fitter recommended I see Jim Dalberth and get the ones with the most correction. Jim recommended the the PowerStep Pinnacle Maxx. They have a hard base to firmly support the foot. You could probably drive nails with them. (We're not talking squishy, floppy, Dr Sholls here.) I liked them so much in my cycling shoes, that I wear them in all my shoes now.