Appropriately violating a בין אדם למקום

Question

What cases are there in Tanach or Gemara where we see someone violate a בין אדם למקום commandment and not get punished for doing so. I'm aware of:

• Esther in Megillat Esther

Although a Machloket, siding with the idea that she was still married to Mordechi Esther was over illicit relations when she slept with king Achashverosh. Source: There is a תוס in סנהדרין in the 8th Perek that discusses why it wouldn't be a cardinal sin. Although תוס gives an answer, the premise he is working off of is that the act was indeed illicit relations (He just explains why it wouldn't be so with a non-Jew)

• Saul

Committed suicide to end his life.

• Shimshon

Committed suicide to end his life.

Edit: Appropriate: Was not punished in court or said to have done wrong in the text.

Answer 1

Yael (Shoftim 4). In the battle with Sisera, the infamous general fled to his good friend Yael's house. The latter (who was married) had relations with him seven times (Horayos 11) to wear him out. When Sisera finally fell asleep, Yael took a tent peg and drove it into his skull, killing him. The reason she was not punished is because it was an aveirah lishmah - she had good intentions, namely, saving Klal Yisrael, when she did so. Nevertheless, the Gemara discusses whether she received any benefit from her act - in the event that she did she would have been punished.

The aforementioned Gemara also notes Lot's daughters (Bereishis 19), who had relations with their father on successive nights, believing themselves to be the only remaining people alive after the destruction of Sedom. Although Lot is rebuked by the Gemara, as he should have taken precautions against his second daughter having relations with him once he realized that his first daughter had done so, his daughters themselves are praised. The pesukim record that they gave birth to Moav and Amon, respectively, from these actions. Moav was the predecessor of Rus and therefore Dovid HaMelech (Rus 1,4), and Amon was the predecessor of Na'amah, Shlomo HaMelech's wife and the mother of his successor, Rechavam HaMelech (Melachim Aleph 11).