Yes bad tie rods can cause vibration especially at highway speeds.
Another cause of vibration from your vehicle at highway speeds is unbalanced tires.
Your tires need to be properly balanced with wheel weights so that they don't cause vibration and it's possible for a wheel weight to fall off which has happened to me.
I had a few wheel weights fall off my truck tire before and it caused really bad vibration to where the bolts holding my steering column up fell out.
I was driving down the highway and all of a sudden vibration started happening and it basically shook the steering wheel in my hand.
I pulled over and found out that a couple of my wheel weights fell off the rim and caused the tire to become unbalanced.
I replaced the tire with my spare and the vibration stopped.
But yes bad tie rods can cause vibration along with uneven tire wear and your steering wheel should also feel loose.
If you replace one tie rod you should if possible replace the other tie rod because they will also fail eventually.