InDesign does a good job on its own, but I use custom justification settings that work better for me:
Word Spacing: 80% / 100% / 133%
Letter Spacing: -2 / 0% / 2%
Glyph Scaling: 98% / 100% / 102%
For the latter two categories, you can go +/- 3% instead of 2% and still get a good look.