Front left tire is towed inward could this be a tie rod problem?

Possible that the steering gear box may have been damaged. Also the a frame and strut may be causing the problem. Best to have a qualified garage do the work.

Tie rod needs to be adjusted, maybe it needs a wheel alignment !

It appears your car may have a damaged or out of alignment tie-rod.

You will need to have your alignment checked and adjusted at a wheel and Tire center or mechanical workshop that conducts wheel alignments, this isn't a very costly job, my last alignment costs was around 56 dollars (they are performed when you buy a new set of tires USUALLY), but your experience may vary depending on if the rod is damaged and needs to be replaced.

The toe is adjusted by the tie rod ends connected to the gear box.
Some adjustment is possible where the tie rod ends connect.

There should be an adjustment with a lock nut and the ability to spin the tie rod to adjust the toe inward to compensate for the outward toe that you have. Best to have a 4 wheel alignment machine to check out the exact measurements, say at Sears Auto for instance.

First, are they slanting inwards at the top, or towards the front?
If your tires are slanting inwards like you are turning the car (the front is facing in more than the back when they should be facing straight forwards ... like it's pigeon-toed) then you have an alignment problem. For this you will have to go to a mechanic who can do alignments and they will straighten it out.
If the tire is slanting inwards towards the top of the tire, there are a few issues that could be the cause ...
1. Jack up your SUV so one of the front tires leaves the ground. Grab the tire and push on the top and then the bottom of the tire (above and below the rim). If the tire moves when you push on it, the tie rods or tie rod ends are probably shot. This is a piece of the steering system, and tends to be one of those parts that every car eventually has problems with. If you do not work on your own vehicle very often I recommend taking it to a mechanic to have these replaced since the steering system is so vital to your safety while driving. If you DO most of the work on your own car, and have a lot of experience with it, you should be able to pick up tie rod ends at any auto parts store. While you are there, I recommend getting a Haynes manual for your vehicle -- it will have exact directions on how to change out the tie rod ends, with pictures and all that goodness. If you ever have future problems with the car that you want to fix, this manual will almost always help you get it fixed.
2. If your tire does not move when you check the tie-rod ends, but the tire is still slanted inwards, take a look at your springs and shocks or struts. If the springs are broken or fully compressed when the car is sitting on the ground, then you have to get the suspension pieces repaired. This I HIGHLY recommend taking to a mechanic, even if you DO know what you are doing most of the time. The springs would need to be compressed using a special tool, and if the procedure is done wrong, the springs can shoot off of the compressors and either kill you or cause MAJOR damage to your stuff -- a friend of mine almost died when one of his spring compressors broke ... the spring ended up bouncing around his garage for about 20 minutes, destroying everything it hit, while he hid under the car. Fortunately he survived with no injury, but his garage and car were both totally destroyed in the process).
3. If the springs are not fully compressed while the Bronco is sitting on a flat surface, then it might be the shocks / struts. The only difference between a chock and a strut is that one is in the center of the spring, the other is located right next to it. Make sure that the rubber pieces on your shock/strut are in good condition, and that there is no fluid leakage. If these are broken, I recommend taking your bronco to a mechanic, because as above, these are very dangerous parts to replace if you don't know exactly what you are doing.
The only other issue that I can think of off the top of my head that would cause your tires to slant inwards is loose lug nuts ... but if it is happening on both front tires this is VERY unlikely. Make sure all of your lug nuts are tight or your tires might fall off while driving.
If you have recently swapped out the engine in your bronco for something much bigger, then you might have put more weight on the front suspension that needs to be accounted for ... and none of the above solutions will fix it. For this, you need to upgrade your front suspension to account for the extra weight -- this would require a specialty store, and after-market parts (like a lift kit).
There is also a VERY small chance that you have 2 bent axles ... but if both front tires are slanting in at about the same angle, 99.999% chance that this is not your problem. If it is just one tire that has this problem, then you will probably notice a strange bounce while driving, and this is a more likely scenario ... but I really don't think it's that.
If none of these solutions work ... please put a bit more info about your issue and I will see if I can help some more. If you were able to include a picture of the vehicle that shows how the tires look, that would be a great help. Best of luck .. and be safe if you do the work yourself.

Depends on how far your drive is to home, if the tie rods are that bad to make the tires wear then i would only drive it a short distance. Tie rods control inward and outward positions of tire if looking at front of vehicle called (Toe) . When driving strat and a tie rod is damaged or defective and tires ares point in or out all your doing is dragging the tire down the road.

You need a wheel alignment my friend.

Genreally speaking the outter tie rod is only worn. The inner connection to the rack is more of a coupling than a rod end. You will need a 22 mm openend wrench and probally a 16mm and a 18mm opened wrench. A set of pliers to remove the old and bend the new cotterpin. Remove wheel cover and loosen the wheel nuts. Jack up the car and place jack stand or wood blocking, (or as a minimum place the wheel you removed) under the car to prevent the car from falling on you while it's in the air. Do not rely on the jack to keep the car up. Cars are heavy. remove wheel Loosen jam nut that locks the tie rod end to the connecting rod of the steering rack, spray adjustment treads with penetetrating oil to help it spin free. You may have to lock the adjustable shaft by the placing wrench on the hex portion of the shaft just inwards of the tread. Remove the cotter pin from the tie rod end. Remove nut. Take hammer and drive the tie rod from the steering knuckle. To help with the alignment of the front wheel try not to move the the steering knucle brake assembly. Unscrew the tie rod , lubricate the tread and in stall the new one. adjust the treads so that the tie rod slides back into the steering knuckle without turning the knuckle. Install the tie rod nut, tighten and secure with new cotterpin. Do not tightnen the jam nut that locks the tie rod nut to the inner adjustment rod for the steering rack, instead place the wheel back on the car, lower car and finish tightnen. with the car lowered, position the car steering wheel straight. Look at right side wheel. You should be able to line the the edges of the front wheel with your eye's with the outside edge of the rear wheel. if this doesn't line up check steering wheel postion. Now after seeing what the wheel alaignment looks like on the right side, go to the left side. If you look along the outside of the left ire and you see the tread of the rear tire , you have to muckh toe out. Lenghten the adjustmne t rod by turning it clockwise. If when you look along the edge of the tire and you don't see the rear tire, turn the rod counter clockwise. Adjust slowly and always check that the steering wheel is in the straight position. Once you have it fairly close to straight, lock the jam nut on the tie rod and take to a wheel alignment company for finishing adjustment. Good luck.

I can walk you through it, be sure it is your outer tie rod that is bad the inner tie rods go bad also. It's actually quite simple to replace. Jack up and secure car with safety stands, remove your tire. Remove cotter pin and the nut holding in onto your steering knuckle, Loosen lock nut on the inner tie rod shaft. Either rent or buy you a tie rod removal tool they are cheap, but autozone and many other stores have a tool loner service that is free. Remove the tie rod from the knuckle and hold inner shaft and rotate the outer rod end till it comes off. When you go back with the new one measure across the front ties on the front and on the rear side about the same place. Screw the new tie rod on till the fron and the back of the tires measure the same distance, that is zero toe. Most fwd cars drive great right there. Be sure you tighten everything properly and reinstall the cotter pin If this helps please vote fixya!