Sort of. They have been in force in some states for some applications (like K-12 schools) for some vaccines. Many of those states have also had broad exemptions

Sort of. They have been in force in some states for some applications (like K-12 schools) for some vaccines. Many of those states have also had broad exemptions for philosophical or religious reasons (https://vaccines.procon.org/state-vaccination-exemptions-for-children-entering-public-schools/ https://vaccines.procon.org/state-vaccination-exemptions-for...). But we haven't had a federal mandate for vaccination across the board (in public agencies, private companies, events, stores, schools, universities, etc), especially without exemptions. Even with that precedent, I feel the Jacbosen ruling (https://en.wikipedia.org/wiki/Jacobson_v._Massachusetts https://en.wikipedia.org/wiki/Jacobson_v._Massachusetts) which enabled vaccine mandates was an incorrect one and that autonomy over one's physical body is the most basic level of civil liberty. The ACLU also agreed previously and pushed back on vaccine mandates (https://www.aclu.org/sites/default/files/pdfs/privacy/pemic_report.pdf https://www.aclu.org/sites/default/files/pdfs/privacy/pemic_...), although the more recent ACLU supports vaccine mandates and treats civil liberties as a gray area rather than a principled right.