Yes once while travelling in Patna Bengaluru Cantt Premium Express, I saw Chennai Rajdhani arrive at PF#1 of Nagpur and Chennai Duronto standing at Outer, just behind Chennai Rajdhani waiting for Rajdhani to clear the Platform.
BTW Trains going towards Itarsi from Sewagram route always arrive at PF#1 of Nagpur, Right ? Never saw any train on that route arrive on any other Platform.