I'm being told in this answer and in this comment that the fourth stage of the Farside rocketoon lies in the center of the four "cores" of the third stage.

See this answer for several pictures of Farside.

When the fourth stage is ignited it literally shoots out of the third stage in which it is embedded.

Thus my use of the word "parallel stages".

Question: How common are "parallel stages" in a launch vehicle? What are some other examples for launch vehicles that reach space, or is this the only one?

note: It doesn't have to be orbital, another sounding rocket example would be fine.