The tire cupping and the rubbing would seem to indicate a wheel fitment problem and maybe an alignment and suspension problem. If the tie rod ball is so loose that it allows the tie rod end to move relative to the knuckle arm, then yeah, that needs replacing. If it's the knuckle arm that rubs, then it's a fitment problem and MAYBE an installation/repair problem if the knuckle moves relative to the rim on an intermittent basis.

You've got a few variables that complicate diagnosis: accident damage, tire wear, non-OE wheels, etc.

Check the offset on the wheel. It should be stamped ET on the inside. If there was an accident with some parts replaced you could have something odd like a mismatched wheel with a different ET. The spacers may not let the wheel get torqued in properly.

The cupping and the shimmy are probably related, but you've got to look at cause and effect.

I'd start with a check of the alignment. In your pic the camber on the pass front looks funny. Hard to say from a small pic, but your observation of front and rear may be valid: does the pass side look different from the driver's?