So far, not yet.
Sam mostly sticks on either the shoulder or the pocket. He’s fallen asleep in both places multiple times. He doesn’t usually travel in the hands very often, mostly because Dean needs them to drive or research, and Sam’s very independent. The time in Taken was unique because there wasn’t anywhere else safe for Sam to stay for the ride back, and his time being trapped was exhausting. He was out like a light.
Brothers Apart 