Yes, a number of years ago. I had a Mazda that I liked a good deal, unfortunately it was a lemon. Eventually - and not all that far into the life of the car - the engine failed - no compression for no obvious reason, according to the engine shop. Given a slew of previous problems, my mechanic recommended to not repair.
So we donated it to a charity that didn't care if they worked or not. Absolutely no hassle, a very easy process. Unfortunately, I don't remember the charity, but it was a "big" one.