Do any aircraft use throttle steering during normal flight?
Yes, The Northrop Grumman B-2 Spirit Stealth Bomber.


  The leading edge of the wing has an internal structure that helps it
  absorb radar energy. The outermost wing segment features a "rudderon"
  or "deceleron", a vertically-split airbrake / rudder that
  simultaneously opens up and down. To act as an airbrake, both the
  decelerons are opened, while to act as a rudder only one is. This
  clever gimmick goes back to the original Northrop flying wings. There
  is an elevon inboard of the deceleron on the outermost segment of each
  wing, and then two elevons further inboard, on the next segment.
  Finally, there is a single control surface for pitch control on the
  "beavertail" at the center end of the aircraft, giving a total of nine
  control surfaces.
  
  The decelerons have to be opened about five degrees before they are
  effective, and in normal cruising flight they are left slightly open.
  However, this undermines stealth, so when the bomber is in hostile
  airspace, it uses differential engine thrust for yaw control.