I'm 17 and I noticed I have intoeing when I walk, is it serious?

Since I can remember my feet have faced inward while I walk. My left foot generally faces straight ahead while my right foot faces inward. I read that intoeing is something that toddlers often have while their muscles/foot arches are still developing.

However I’m not flat-footed, is my gait something I should worry about?

Note: I can put my feet normally when I am aware of it, like when I wore high heels to the ball, but it feels weird.