Totally. A not-so-current mention would be Fallout 3. For the longest time the Steam release used Games For Windows Live which wasn’t really working for years but the GOG version was DRM free.
I can’t think of a recent release where this has happened but I imagine it was either because it was typical for the team behind a game to have a specific kind of DRM or because the GOG release was lightly later than the Steam release.