The one I am familiar with was a NASA F-18 with the drogue. I wasn’t on the program personally so I don’t have details.
https://www.nasa.gov/centers/dryden/multimedia/imagegallery/F-15a_845/EC02-0294-4.html
https://www.youtube.com/watch?v=F-Y7fhIasjM
So it’s only been modeled. Hasn’t been done. I would have been impressed if the loop had been closed from the receiving end. That’s probably still under development. There are a lot of dynamics involved between the drogue and the probe of an aircraft trying to plug. I can see that being a tough problem, though with computer vision systems and some computer learning algorithms, not beyond technology.