Throughout history, have their ever been any governments that realized they had either failed or were not what the people wanted and removed themselves from power?
The obvious example in United States history is the Articles of Confederation, which was formally ratified in 1781. As early as 1786, methods were being explored to improve or revise it. This led to the Constitutional Convention in 1787, which wrote what became the US Constitution (which took effect as the governing document of the United States in 1789).
Louis Philipe of France did so in 1848. In his abdication he stated that he'd become King in 1830 by the will of the people. With the Revolution of February 1848, he believed that the will of the people had been removed, hence his authority. His Prime Minister Adophe Thiers urged him to use his Army to maintain his authority, but he refused to do so. There were also the "Self-Denying Ordinance" of 1645, by which English MPs or members of the House of Lords who were also Officers in Parliament's Army were required to resign their positions in the Government, and the similarly named action of the French Revolution by which the members of the Constituent Assembly denied themselves the right to be elected to the Legislative Assembly that followed it.
I period 1989-1990 many satellites did not really oppose coups and revolutions, knowing it is better to give power over.