Not for double planets, for which each body is always the nearest planet to the other.
Pluto and Charon disputably fit the bill. This 2006 International Astronomical Union report states
Q: Is Pluto a planet?
A: Yes. In fact, Pluto’s large companion named Charon is also large enough and massive enough to satisfy the definition of “planet”. Because Pluto and Charon are gravitationally bound together, they are actually now considered to be a “double planet.”
Even if one doesn't consider them planets, an Earth-Theia-like collision in another system could conceivably produce a pair with a barycenter outside each body.
The wiki also states
...the Moon currently migrates outward from Earth at a rate of approximately 3.8 cm (1.5 in) per year; in a few billion years, the Earth–Moon system's center of mass will lie outside Earth, which would make it a double-planet system.