Were there any "retaliation" anti-tank weapons widely used by infantry in World War II?

There were a few devices that were intended to perish with or in the aftermath of the tanks destruction, but none of them were manned:

The Goliath, kind of a bomb on tracks.

The soviets tried with trained dogs but that did not go too well. Although it could be called "MAD", that would be cheated because the dog did not know about neither the mutual, nor the destruction part.

So no, no "retaliation" or MAD weapons were officially issued. Obviously, any weapon not meant for close, suicidal combat can still be used as such. And many weapons were so dangerous, that they were not far from MAD territory. But all of them contained the chance and were issued in the spirit that the user would escape unharmed. As far as I know, no suicide weapons were ever officially sanctioned in WWII land combat.

My uncle was in France 43/44. Told of hunting German tanks, ambushing them running over his fox hole as he used dynamite to get a track off as his buddies shot at ports and view scopes. Spoke about putting frags in the barrel first, then phosphorous, said that was when it got exciting. I'd call it insanity. I call him a brave man. He got badly wounded but lived to tell the tell.

Lets not forget the Satchel Charge. This often required the person using it to put themselves in harms way.

The World War II-era United States Army M37 Demolition Kit contained eight blocks of high explosive, with 2 priming assemblies, in a canvas bag with a shoulder strap. Part or all of this charge could be placed against a structure or slung into an opening. It was usually detonated with a pull igniter. When used as an anti-tank weapon, charges were sufficient to severely damage the tracks. 4 kg (8.8 lb) charges were enough to destroy medium tanks.

In Saving Private Ryan, Hanks' Lieutenant character has his squad improvise a "sticky bomb", which he claims is "in the field manual". It involved a sock, explosives, and grease to make it stick.¹

The Germans it seems actually produced devices with a similar purpose, which attached to a tank using magnetisim. The purpose of this device was to penetrate the armor however, whereas Hanks' improvised device's goal was simply to disable the vehicle by derailing one of its tracks.

The British also produced devices for this purpose. It really was sticky, rather than magnetic, which meant soldiers had to be careful not to stick it to themselves (!). Not many of them were used, but some were successfully used in combat.

^{1 - I'm not sure if that was a real thing, but the attention to historical accuracy in the parts of the movie I do know about was the best I've ever seen.}

The Japanese have the weapon the OP seems to be looking for: the Lunge Mine, which would be fatal for the user, although it isn't well-documented. A similar weapon could have been improvised by attaching a Type 99 mine to a sturdy stick. They also had a cheap shaped-charge anti-tank grenade, the Type 3 which could have been used in a hand-to-hand attack on a tank. They used flamethrowers as anti-tank weapons a few times, with some success.

The Soviet RPG-43 was a shaped-charge hand grenade. This required getting within throwing range of a tank, and was also quite difficult to use correctly.

The British Blacker Bombard had a range of only about 100 yards and frequently threw fragments back towards the weapon crew if it hit. However, it was probably less dangerous than the Smith Gun which killed several crew without ever seeing action against the enemy, or the Northover Projector, whose incendiary ammunition tended to break and ignite inside the weapon.

The most dangerous of the early-war British anti-tank weapons was probably the "Sticky Bomb", which tried to glue a powerful explosive charge to a tank, with a five-second delay fuse for the user to take cover. It was replaced later in the war by the Gammon Bomb, which was still pretty dangerous, but was used to kill several tanks in Normandy. The PIAT wasn't a great weapon, but wasn't in itself terribly dangerous for the user.