That I know of profesionally at top level in a world title fight, no.

But Nacho Beristein has said many times he'd have to step into the ring during sparring sessions between JMM & Rafa because they would turn bloody. They would really put a hurt on eachother during sparrings.
He said a couple of times it got heated but it wasn't in a hateful way it was because both of them are very competative.

The only time I could think of that happening would be between the Canizalez bros. who like the Klitschkos both were top level fighters in their division and they both held titles simotaneously in the same division.