I know you said Minneapolis or Hennepin county but I know that Regions offers it onsite as well as at certain fire departments. Here is a link to their events page
We have been to a clinic at the Merit Chevrolet on 94 in Maplewood a couple of times. Each time it was Esther from Child Passenger Safety Associates, Inc doing the inspection. She was awesome. We learned SO much about installing our seats. I felt very comfortable and confident installing our seats in other vehicles when the need has come up. I am not sure where else she holds clinics, but she may have contact information for other areas if that is too far for you. She helped us with both our infant seat and our convertible. It is free, but she does accept donations for the non-profit.
I called my city and they do not do them, but directed me to the Anoka County Sheriff, who does do them. So, you might want to check Hennepin County, they might do it too.
Re: Car Seat Inspection
I know you said Minneapolis or Hennepin county but I know that Regions offers it onsite as well as at certain fire departments. Here is a link to their events page
https://www.regionshospital.com/rh/events/
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Child Passenger Safety Associates, Inc
Here is the website for you to find one in your area. I think there is one in your area this weekend.
https://dps.mn.gov/divisions/ots/child-passenger-safety/Pages/car-seat-checks.aspx