My wrists and ankles constantly feel out of place?

So my ankles and wrists constantly feel out of place so I crack them - by circling my hands or feet in circles and sometimes I hold my wrist and turn my hand til it feels back in place - to the point the joints start to hurt. And one I’ve cracked it so it feels normal, I have to keep it still or it will feel out of place again. I went to a doctor and they said it doesn’t seem like an issue, but it only started two years ago, I’m 17 this year. It keeps getting worse too and people are starting to notice and my brother especially makes fun of me. I do it subconsciously too! Is there a specialist for this kind of stuff?