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Yes, once Benjamin Franklin was sent by the colonists just before the Stamp Act. The colonists had disagreed on what he should say, though, so he told Parliament that the colonists were angry because the taxes were "sneaky"- they didn't know how much they were being taxed and it felt like Parliament was taxing them behind their backs. Parliament cooperated and created the Stamp Act, which was very in-your-face to the colonists, supposedly what they had wanted, according to Franklin. As you likely know, though, the colonists didn't like that much either.
Also, other colonists could have been sent, obviously, but without planes and modern travel technology, it'd take months for colonists to be transported. This would also mean they'd be behind on the news and the spirit of the times. Just reading letters from friends or relatives about what's happening is much different from actually being there. The king, according to the Declaration of Independence, "called together legislative bodies at places unusual, uncomfortable, and distant from the depository of their public Records, for the sole purpose of fatiguing them into compliance with his measures", but that, by nature, wasn't effective either.