Does anyone know of a tool to check where my domain placement is on search engines based on specific keywords?

try using Web Position Gold.

but be careful. Google says:
"Automated rank checking programs violate Google's Terms of Service. They use server resources that should be spent on answering user requests. We strongly request that you not use rank checking programs to check your position on Google"

I believe there is some sort of Google Web API that you can use with Web Position so that you have a license key to do a certain number of queries daily without upsetting the Google powers that be.