Yes. Towards the end of World War 2, Germany launched the V2 rockets against London, the first real missiles to have ever been fired.
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There is an example of the Germans using the first air launched guided missile in WW2. The Katushia rocket and the Nebelwerfewr were missile systems of sorts. The V1 & V2 Rockets were missiles, the V2 went into sub-space in flight.
No WW2 only
Russia sent missiles to Cuba because Cuba was already in a conflict where the U.S had attempted to assassinate Fidel Castro. Russia took advantage of Fidel's anger and sent the missiles to Cuba in which Cuba threatened to use them against the U.S
Surprisingly few in fact. The main differences were in the development of weapons from WW1 during WW2. The Tank, Submarine and Airplane all debuted during WW1 but were greatly improved in WW2. Small arms and artillery remained essentially unchanged. The main WW2 inovations were the Atomic Bomb, Guided and Unguided Missiles and Jet Airplanes. All three were still crude during WW2 and were only fully developed during the Cold War.
Since World War 2, the greatest attention in naval weapons has been focused on missiles. These include anti-ship missiles, anti-aircraft missiles, and ballistic missiles. Advancements in missile technology have revolutionized naval warfare and greatly increased the range and precision of naval engagements.