I used to when I worked at C-Cube/LSI Logic. We had a multimedia processor (MPEG-2/H.264 encoder and decoder) that was SPARC based. It was used in DVD recorders, D-VHS decks (if anyone remembers those), set-top boxes, satellite downlink receivers for cable TV headends and other MPEG applications.
My favorite part of VxWorks was WindView. It's an awesome tool that shows task execution.