For any even $d$, and any $v \geq d + 1$, the answer is yes; take the cyclic polytope $C_d(v)$, consisting of $v$ points on the moment curve $(t, t^2, \dotsc, t^d)$. Any choice of points gives a combinatorially identical polytope, which is combinatorially vertex-transitive in even dimension; and it is always possible to realize such a polytope so that all its combinatorial automorphisms are Euclidean isometries.
Both results are from this chapter "Automorphism Groups of Cyclic Polytopes" by V Kaibel and A Waßmer.
For odd $d$, you can get a vertex-transitive polytope for any even $v \geq 2d$ by taking a prism over the $(d-1)$-dimensional cyclic polytope $C_{d-1}(v/2)$. There is also the $d$-simplex with $v = d + 1$.
For odd $d$ and odd $v$ it is hard to find any examples of vertex-transitive $d$-polytopes with $v$ vertices.
For instance, none exist at all for $d = 3$ (a consequence of Transitive Planar Graphs, Fleischner & Imrich, 1979)).
The only example I know of is the rectified 5-simplex, with 15 vertices in 5-space. The scarcity of examples seems to occur because most symmetry groups in odd dimension include central inversion, which pairs up the vertices.
For odd $d \geq 7$, taking the Cartesian product of a cyclic $(d-5)$-polytope with the rectified 5-simplex, you get a vertex-transitive $d$-polytope with $15k$ vertices for any $k \geq d-4$, so you get some examples that way; the smallest being a 45-vertex example in 7-space.