Yes they did: RB25de (non turbo)
To make it legal, you'll probably need to take it to an engineer, I wouldn't think there would be much hassle, probably justa brake upgrade. If you are goning to do this, i would keep it as stock as possible, get the engineers and then put in the cage, etc.
Though, most modifications would make it illegal again, but at least the car is engineered for the rb25det.