I can't that have led to penalties, because there haven't been any that I remember. But that doesn't mean it isn't a foul, I'd never seen anyone jump feet first into the crowd before Cantona did it but that doesn't mean it couldn't be violent conduct because no one had seen it before
What I have seen though, and given myself, loads of free kicks where two players go to head the ball, one gets there first and the second is late and heads the first player. That isn't an accidental clash of heads, it is one player getting there first and the other player heading them, that makes it careless and a free kick. It happens a lot, but doesn't get talked about as it doesn't lead to a penalty.
Think of it like keepers coming out to punch the ball. It used to be that if they miss the ball, or just get a glancing blow, and then accidentally punch and opponent they'd generally get away with it. But in recent years these dave started being sanctioned as penalties, completely accidental but ultimately careless and therefore a penalty. Not really any different to a defender going to head the ball and heading the attacker instead, even if he did get the slightest of touch on the ball first.