[nuccy]

The Cassini–Huygens mission had exactly such a moment [1,2]. A year or so after it was lunched somebody pointed out that Huygens and Cassini communication may fail due to a flaw in handling of Doppler shifted radio signals on Cassini, which should relay data from Huygens. Luckly the spacecraft used a Venus gravity assist and had a close encounter with Earth again, so the issue was tested and confirmed. Engineers had to adjust the descent profile of Huygens, releasing it earlier than originally planned. This made its batteries last shorter after landing on Titan, but the whole mission was saved and data from the surface was properly relayed to Earth.

1. https://en.m.wikipedia.org/wiki/Huygens_(spacecraft)

2. https://youtube.com/watch?v=3ubr151wrHQ