[ivanbakel]

There is at least one case[0] I can find. Probably it is exceedingly rare simply because companies are much more likely to settle, especially in the cheapest way possible i.e. stop distributing the tainted software.

[0]:https://wiki.fsfe.org/Migrated/GPL%20Enforcement%20Cases#Bus...

[phkahler]

To be clear, stop distributing is often "good enough" but technically damages could still be sought for copyright violation.