You could drive a car with a bad tie rod but I would advise you not too since not only will a bad tie rod cause uneven tire wear on your vehicles tires you also risk getting into a potentially deadly crash should your tie rods or tie rod completely fail.
You need a proper working tie rod to keep control of your vehicle and if it fails you could roll the vehicle and end up hurt bad or killed in a car wreck.
So only drive it slowly to an auto shop to get the tie rod replaced or replace the tie rod before driving the car too far.