Yes, it has been done. Most of us don’t remember or have ever seen one.
The Yamaha GTS1000 was introduced in 1993 with a single-sided front swingarm.
Here is a clip from the February 1993 issue of CycleWorld:
The GTS wasn’t designed to be the last word in handling, though, it was designed to be “technologically superior…the most sophisticated road-going Yamaha motorcycle ever produced.”
Read the full article here. It is kinda neat!