If you are using solid or planar elements for concrete and truss elements for steel, there is the option to create a constraint: embedded region. This option will give perfect bond between the truss element and the solid/planar elements.
Perfect bond can only be achieved if both solid elements are used to model the concrete and the steel. Just create a solid made of two material and you don't have to use tie constraints. Truss and solid cannot be perfectly connected because solid has a much richer kinematics than truss and some assumptions are used inside the code to make the connection.
Yes, by using Tie constraint, you can achieve perfect bond condition where there will be no separation no matter how much displacement/force is applied.