Ha, I definitely thought there was at least some verbs but I guess not

Not in their base forms, no. All verbs are regular in their second person plural form of Imperative.
 
You may find irregularities when combined with some pronouns at the end («tener: tened/teneos», but «ir: id/i**d**os»). 
 
And in the negative form, because it's like the Subjunctive («tener: no tengáis», but «ir: no vayáis»).

All verbs I’ve seen with strange conjugations (ser, ir, tener, caber, haber etc) all have regular conjugations in the second person plural in the imperative affirmative form (they become sed, id, tened etc). Is there a verb that is irregular in this form? (I would guess there is but I would still like to know)

Is there a verb where the second person plural in the imperative affirmative form is irregular?