CSM (a separate product) can help evaluate your ACL logic with its ability to do automatic conflict detection:
http://www.cisco.com/c/en/us/td/docs/security/security_management/cisco_security_manager/security_manager/411/user/guide/CSMUserGuide/fwaccess.html?bookSearch=true#pgfId-363857
That covers things like are your rules conflicting with one another.
More important in that respect auditing-wise is are the rules current and justified by the business needs they are designed to meet.
CSM also does not give you an overall health check for security vulnerabilities, following best practices, etc. That requires a qualified engineer.
It's also probably a bit more than what would be called for to look at a single firewall or two. It requires a server and the list price for the entry level package (L-CSMST5-4.12-K9 Cisco Security Manager 4.12 Standard - 5 Device Limit) is US$2000.
