My inseam is 28.5 and I have a pair of Hind, mid weight running tights I wear over my shorts. They are perfect length, have articulated knees and ankle zips. They are so old the zipper broke and DH fixed it for me, because I can't find another pair like these. They are size smalls, which is weird, since normally I wear an x small. I also have a pair of Ibex tights that are part wool. I wear them for snow sports and winter cycling. Same thing. They are smalls, but since they are tights, I just readjust and they are not too long. I bought them on Steep and Cheap about five years ago.
Athleta makes tights, hiking pants, running pants in petite sizes with appropriate inseams, in a wide range of sizes.