Did Sammy Hagar ever sing by Van Halen like David Lee Roth did?

Yes, Sammy Hagar sang Van Halen songs during his time in the band. Hagar was the lead vocalist of Van Halen from 1985 to 1996, and again from 2003 to 2005. During his tenure, he recorded four studio albums with the band: "5150" (1986), "OU812" (1988), "For Unlawful Carnal Knowledge" (1991), and "Balance" (1995). Hagar also performed Van Halen songs during live concerts.