What is wrong with my feet? I've always had a couple of overlapping toes.

Not unusual . Overlapping toes are not that unusual. This can be a genetic, inherited, deformity. If it is symptomatic, surgical intervention can be helpful. Have it evaluated if concerned. Dr l.
Hammertoes. It sounds as though you may have had a problem from birth of either contracted toes or hammertoes. If a problem you need to see a podiatrist for evaluation.