Bike fitting questions

Hi I've been riding my road bike for a year now and love it. I mostly ride recreationally on my local trails. I also have done a few duathlons and doing pedal the cause next month. I like to ride about 20 miles when I go out.

I've noticed that my bike does not seem to be fitted to me properly. When I pedal (I'm clipless), I feel like I'm coming from behind the pedals instead of on top of them. I called my lbs to see about getting fitted. It costs $75. Do you think getting fitted at lbs is necessary? Or is it possible to do a do it yourself fitting?? Meaning looking up tutorials online to guide me on fitting myself to bike? I was fitted on my last bike, specialized hybrid and did not notice a big difference when riding. Thoughts on bike fittings??

Lisa