I think your primary issue is the direction of your foot... toe out/heel in. To get claet centered in the 'middle' of its float zone you' nee lots of 'heel in' for the cleat adjustmet. I'm sure there's alot of cleats out there that will get you to yuor baseline but yuor heels will more than likely hit your chainstay and crank arm

To compensate for a shorter leg try different sized crankarms. Changing the left arm wouldn't cost much. Go longer if you left leg is longer and shorter if your left leg is shorter.