At least in the EU, yes they did. Original Battlefront 2 for example with the Battle of Mustafar. But many battles from what I recall were before the introduction of Empire craft, they were still mostly using Clone Wars era ARC-170s and V-wings.

But there were some battles involving Empire craft.

Jedi survivor on koboh

Vulture droids appeared in several Imperial-led novels in Canon, including Tarkin, Thrawn, and Lords of the Sith. I can't remember whether they're explicitly depicted against TIE fighters, but I believe they opposed Imperial forces all the same.