Apollo 15, 16 and 17 did perform nominal EVAs from the command module after the lunar landing, to retrieve film cassettes. To this day they are the only 3 deep space EVAs ever made. All others have been either in Earth orbit or on the moon.
https://www.history.nasa.gov/SP-4029/Apollo_18-30_Extravehic...
https://www.drewexmachina.com/2017/12/17/a-history-of-deep-s...
https://www.smithsonianmag.com/smithsonian-institution/i-was...