Did any aircraft ever use stick twist for rudder control?
Yes, the RAH-66 Comanche FBW system used a twist control for the yaw channel.
The RAH-66 Comanche used a twist in the pilot's stick to control the rudder/yaw inputs.  It had no rudder pedals.  (Yes, a helicopter is an aircraft).
Comanche unfortunately was canceled near the end of LRIP (Low Rate Initial Production) in 2004 as the program was moving into EMD (Engineering and Manufacturing Development). There were at least 2 prototypes flying at the time. Test and development flights took place from 1996 to 2004.
Extracts:

&quot;... the RAH-66 Comanche design incorporated a 3-axis, limited displacement, uniquetrim sidearm controller [replacing cyclic and yaw pedals] for control of the longitudinal, lateral, and yaw axes. A proportional collective with approximately 6 inches of displacement was used. An enhancement tailored to the scout mission was the incorporation of limited control in the vertical (fourth) axis of the sidearm controller. This allowed the pilot to command stabilized climbs and descents with the altitude hold system engaged. This was used primarily for vertical unmask and remask maneuvers, which enabled the pilot to fly through the autopilot without even temporary disengagement.&quot;
— &quot;Impossible To Resist&quot; - The Development Of Rotorcraft Fly-By-Wire Technology (PDF—Paywall)

and

&quot;The RAH-66 Comanche program has proposed 4-axis controller (Harvey, 1992), but this approach is now questionable.&quot;
— A Four-Axis Hand Controller For Helicopter Flight Control

(Source)

Note that either the '3 + 1' or '4 + 1' controller configuration would likely have been the ones decided on for the Comanche, on the basis that all the cockpit pictures that have been seen feature a sidestick and a collective stick, but no pedals.

As noted in the first text block (Impossible to Resist) the 3+1 (collective) was the final form, although the cyclic had some control authority in the vertical axis (as described). I added the emphasis in bold, and the note on &quot;side arm controller&quot; vs &quot;cyclic&quot; in brackets.