He performed at a few events a couple of times since them, but only played a couple of songs each time. Even his final show wasn’t a full concert.

Solo set:

I Don’t Know
Mr. Crowley
Suicide Solution
Mama, I’m Coming Home
Crazy Train

With Sabbath (including Bill Ward, who hadn’t played with them in a long time):

War Pigs
N.I.B.
Iron Man
Paranoid

He also performed sitting down.

That’s an impressive list. I don’t think I know any in-person acquaintances who who saw Nirvana.