Well, you can turn that question around: has capitalism ever existed in any society? In a truly capitalist society, all of the goods and services would be market commodities. In the U. S. at the present time, the value of the goods and services that are outside of the wage/market system is about equal of the GDP. Does this mean the U. S. is not a truly capitalist society?
The point I'm trying to highlight here is that economic production in industrial societies is a complex mix of capitalist and socialist approaches. Rather than asking questions about whether or not some "pure" socialist or capitalist society has actually existed, we should focus on how to effectively allocate resources. Whether market based approaches or socialist based approaches are effective in a given sector of the economy is an empirical question.
Miles