Sure. In Darwinbots, there was vision, touch, collision, hunger, etc. Saw some neat stuff. The evolution of family recognition was probably most interesting. At first general avoidance, then eventually evolving avoidance based on an identifying trait possessed only by close relatives.
Was basically a pond simulation with program fed 'plants' and evolving critters that fed on them(and one another). Primary focus was on the evolution of behaviors.
Number of simulators out there though with different foci. Evolution of the body, Core War style pure program competition, etc.
Somewhat dubious on whether those could develop intelligence, but interesting at any rate. World is getting weirder with the increasing usage of neural nets. Realistically where we are likely to see something develop as companies have a logical incentive to throw ever more resources their way and enable them able to write their own programs.