It happened once with the Red Kraken, when the Dance had left Lannisport “thinly defended,” and that expedition was repaid in full by Joanna Lannister and Ser Leo Costayne.
It was raided a second time during the Greyjoy Rebellion, but there’s no evidence that the Greyjoys went further than burning the fleet in the harbor.
But that’s it as far as mentions go in the WOIAF. So twice in thousands of years doesn’t sound too bad.
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