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Did Soviet "spyplanes" ever do overflights of NATO territory?

Inspired by Saf2000’s post about the SR-71. Did the Soviets ever do such things as the CIA with the U-2 over Russia? Or like even earlier with B-29 or B-36 in the Arctic?
I know of some incidents in the Indian Ocean and the Caribbean, but the British Isles or Canada or CONUS?

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