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No - in the past, the torpedoes were longer than the boat's beam, so it would've been physically impossible. Today's torpedoes are acoustically and wire guided, so it makes no difference if the target is in front, to the side, or behind you when it's launched. It already knows where the target is before it leaves the tube. Essentially, in the past it wasn't feasible - over the past 40 years, there's been no reason for it.
Rarely. Unarmed German merchant subs in WW1 were refitted with beam tubes which were angled as the beam was too narrow to allow perpendicular firing. [In the 1960's, USN Thresher-class subs also used beam tubes. They were intended to hunt and kill enemy submarines, and the beam tubes allowed more extensive sonar in the bow.]
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