Yes, several times. At my own house, had to have an old tree that broke and narrowly missed part of our house. Tree was about 100 ft tall, VERY close to the house around 4-5 foot circumference and we had the stump ground out. Was just under $500 in a big city area and this was about 5 years ago.
Had trees removed at my childhood home in a small town this year. Something like 10 smaller trees and three trees well over 60-100 feet tall with large trunks, also ground down. Cost was around $1,800 for all.
Both companies hauled off all debris and having the stumps ground down allows you to replant in the area within a year (the root system will decompose fast).
Absolutely hire someone that is bonded and insured. It is dangerous work, and if the trees are close to your house, there is a chance that someone not trained might do property damage (and you also don't want to worry about someone injuring themselves on your property too).