Yom Kippur War, 1973
IDF was surprised at how easily their tanks were destroyed by
Egyptian infantrymen generously supplied with Sagger and
RPG-7.
Lebanon, 1982
IDF armoured forces get whacked by Syrian tank-hunting teams of
commandos & Gazelle choppers. http://www.acig.org/artman/publish/article_279.shtml
"The aim was to ambush and tie down Israeli mechanized formations
by ground-forces, preferably at short range and within urban areas,
and then hit them by attack helicopters that would approach using
local hilly terrain.

By early June 1982 the Syrian Army had the whole 20 Commando
Battalion with a total of 50 hunter-killer teams deployed in
Lebanon, mainly in the areas south and west of Beirut, but also in
eastern and southern suburbs of the city. Each of Syrian teams
consisted of between four and six men, armed with some of the best
Western and Soviet anti-tank weapons of the time, including RPG-7s,
RPG-18s (disposable 64 mm antitank rocket launcher), AT-4 Spigot
ATGMs (only early-production 9P135 units), and MILAN ATGMs from
France. Usually there were two shooters and two loaders in each
team. Every six-man team had two additional members equipped with
SA-7 MANPADS. Syrian anti-tank troops were older, more experienced
soldiers of the SA, showing strong military skills and
determination, and were later described by the Israelis as having a
very professional attitude towards their mission. They operated
with predilection in urban areas, where narrow streets of Lebanese
towns and villages could easily be turned into shooting galleries
for Israeli tanks."
After Lebanon 1982 the Israeli concentrated on building better
Merkavas and heavily armoured APCs like the Nagmashot etc. But it
would sppear they did not alter their tactics much.