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No! Undertaker has never officially submitted. CM Punk's "sumission" was planned with referee Scott Armstrong, CM Punk, and Teddy Long. But they all got what they deserved. And he did not submit to Kurt Angle. Angle was pinned at the same time right before Undertaker tapped out., so technically he didn't submit.
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There is one occasion that I know of. Leading up to Vengeance 2002, Taker and Kurt Angle faced each other on Smackdown for the undisputed title. Taker went for the Last Ride but Angle reversed it into a triangle choke. Taker still managed to hit the manuever but Angle didn't let go, leading to Angle being pinned and Taker submitting simultaneously, with the match ending as a no-contest.
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