Yes, they did it a few times in the 1980s
Mainly, they did it to develop and prove the techniques. I think they did it for 3 satellites before the Challenger disaster. It certainly isn't economically worthwhile to launch a mission that costs about $500 million to save a satellite worth perhaps $100-200 million. NASA did it the previous times on the taxpayer's dime. I doubt the Europeans will be willing to foot the bill and I'd be rather upset if NASA wasted that much of our money for a European (or US) commercial venture.