Should I get a structural engineer to inspect?
Struc Engineer here and I have done a lot of foundation and as-built framing inspections.

Beam

The twisting of the beam is not an issue (based on the pictures and your comments).

Crack

The crack in the concrete of the foundation, which is wider at the top than the bottom, is caused by settling of the foundation in the one of the two adjoining corners. If you are on a hill or slope, then it is most likely on the downhill/downslope side. I expect the settlement is occurring to the left in the picture due to the crack being located on the left side of the beam pocket

Foundation settlement can also be caused by downspouts draining at the foundation or a lack of a curtain drain as well as other reason

Unless very recent, it can be very difficult to determine the age of a crack, especially via pictures. I can sometimes get a good feel about it onsite by close visual inspection of the interior of the crack as well from information that I would determine from the site and the history of the structure from the owner if possible

Is it a problem?

Yes, if it continues

Is it continuing?

That requires a site visit by a local structural engineer to determine

How fast is it occurring / how soon do I need to address it?

This is usually a relatively slow process and having an it inspected immediately is not necessary. However, as it continues to settle it will cause more issues in your house

How to mitigate it?

There are various methods, including 'pin piles' which is basically pipes driven into the ground with a bracket attached to the foundation, the load is carried by the pile rather than be the earth immediately under the footing

What do I recommend that you do?

Hire a local structural engineer to do a site visit by the end of the summer

Any tips?

Hire a smaller firm for better rates. They are also likely to have more experience in this area as the larger firms tend to deal with multifamily, commercial, etc