The closest thing I can think of in biology would be
https://www.nytimes.com/2010/05/21/science/21cell.html and
https://www.science.org/doi/pdf/10.1126/science.328.5981.958 (same underlying research, two popular science articles). It still depended on many different known biological components, tools, and starting points.
In non-biology, most of the work has been self-assembling, not self-replication. IE, put all the puzzle piecees in a bag, jiggle for long enough, and you get a fully assembled puzzle out.
There's also https://en.wikipedia.org/wiki/Xenobot
Realistically, many scientists are working towards fully self-replicating machines. Generally, nobody has been able to articulate a realistic danger that is not highly implausible; we work under the assumption either nothing bad will happen, or we'll be able to stop it well before it's an issue.