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Not a federal judge and not an impeachment, but a judge has been removed for a controversial ruling recently: https://www.usatoday.com/story/news/2018/06/06/judge-aaron-p...

Approximately 8 federal judges have been impeached in the last century:

https://www.fjc.gov/history/judges/impeachments-federal-judg...

That doesn't include how many resigned facing likely impeachment.

It isn't merely a controversial ruling, it might be easily construed as a favor to friends (police and/or the clerks who published the document by mistake).