In short, if you are talking Kenner and mean factory errors or mismatching overstock on purpose (Like Gary's Trilogos) then..no.
Kenner did put new figures on older cards to test bubbles or to use them as mock ups though (you can see a load of these on the archive or on the net) but these are all considered samples/pre prod and not a means to sell stock. Kenner were really big on quality control so a Kenner figure on the wrong card is a hard find (Shawn has one though - Luke Jedi on a Biker Scout card)
On the subject of Kenner errors though, they did happen! Not quite as amazing as a figure mismatch but I have seen a POTF Han Carbonite with about 3-4 coins inside the bubble and there are figures out there that have had their bubbles sealed on upside down etc