They did in the first episode of Transformers Animated. Granted, that was a cartoon, which made it infinitely easier to have them float in zero gravity than a live action movie.
That’s the episode where for some reason the Deception jets turn into triangles and after sleeping for 6 million years Optimus wakes and just says “thanks” and throws Teletran-1 a thumbs up and also Casey Kasem is there right