It has happened quite a few times..
kite.com
https://www.adrforum.com/domaindecisions/1609855.htm
Complainant has alleged that the entity which controls the domain name at issue, and is the proper respondent, is Brandon Abbey / Escrow.com. The submissions in response to the complaint were on behalf of Carl D. Crowell, an individual; Escrow.com, a Delaware corporation; and Manhattan Engineering Incorporated, a Delaware corporation. Respondent claims that ownership of the disputed domain name belongs to Carl D. Crowell, who leased the domain name to Manhattan Engineering Incorporated (“MEI”). Respondent argues that while MEI maintains sole control over the disputed domain name, Carl D. Crowell is still the owner of the disputed domain name until the final payments are made, at which point MEI has the option to buy the disputed domain name, and MEI would not become the actual owner of the disputed domain name until 2018. During the pendency of the lease, title to the domain name is held by an escrow agent, Respondent Escrow.com.
Other examples of either leased or lease-to-own domains subject to UDRP's
fiesta.com
https://www.wipo.int/amc/en/domains/search/text.jsp?case=D2015-0080
It appears that the Respondent acquired the disputed domain name as part of a leaseback financing deal concluded with the previous owner of the disputed domain name before knowledge of the present dispute. Such deal was most likely based on the potential value of the disputed domain name, which is comprised of a common generic Spanish word.
Hostess.com
https://www.wipo.int/amc/en/domains/decisions/html/2009/d2009-1357.html
uax.com
https://www.wipo.int/amc/en/domains/search/text.jsp?case=D2019-2925
The recent canvas.com litigation also involved a domain name which was the subject of some kind of structured payment arrangement.
Obviously, anything that is the subject of a lease, payment plan, or mortgage can be the subject of a legal dispute or other loss, and that is by no means confined to domain names. With things like vehicles and houses, there is a well developed system of title and liability insurance. That is not really possible with domain names due to the problem of risk selection.
It is important that any payment plan or lease take into account what sorts of things may happen during the course of performance and who bears the risk of loss. Of course if the lessor/purchaser is to remain liable for payment in the event of loss, then that provision is only as good as their ability to pay.
There are various ways to structure risk and responsibility, which is why a "one size fits all" contract may not be the best fit for any particular situation.