From your description it sounds like you are looking for something like this monoball that connects two of some sort of "stick" where the shaft of one stick is concentric with the shell of the bearing and the shaft of the other moves with the ball. The only off the shelf thing I can think of that is like that is the Turbo tie rod ends that you mentioned. You may have to buy the bearing and provide your own "sticks" to build what you need.
