Were any invaders able to successfully step foot on the other side of the wall/ penetrate through?

Taco, Shanhaiguan Pass is a part of the wall. After Li Zicheng conquered the Ming Dynasty, he tried to enlist some Ming generals. Wu Sangui was one of them. However, he didn't surrender to Li Zicheng. Instead, he contacted the Manchu Qing dynasty and let their troops enter Shanhaiguan Pass. Later, Manchu Qing Dynasty defeated Li Zicheng and unified China.