Yes. There are many buses available from both Govt and Public Sector. Andra pradesh Road transport corporation is providing bus service from Chennai to tirumala directly. Even Government of Andra pradesh is also providing tirupathi balaji dharshan package. Apart from Govt, many travel agencies are also providing Tirupati Darshan packages from Chennai. Sri Kapileshwara travels is also providing best balaji travel package along with accommodations. Darshan ticket is also reserved from travel agency side before the travel.