It's been done before. Cassini had a plutonium RTG and the launch vehicle was designed to eject the fuel before flight termination if it came to that. It's been used on other spacecraft too, a lot of moon and mars probes. I don't know if they also had modified flight termination. Safety concerns add to cost but a long term power source without sunlight is very valuable too.
Key word there being plutonium, not whatever fuel stays in the raffinate; while Egan_BW is serendipitously correct in asserting that the power output per unit mass is much lower in waste, there's also a complex loss of fuel life, which compounds the mass problem by requiring large and ultimately unnecessary radiators to enable the requisite overload of fuel relative to mission requirements on launch.
In any event, the primary form of risk mitigation in RTG/RHU design has always been the fuel itself; ceramic plutonium doesn't easily shatter into dust, and the iridium coating the pellets serves to contain the fragments if they shatter. Those go into a graphite impact shell, as well. I've not seen any description of a separate eject system for the fuel. Do you have a source for that?
The thing is, sunlight is kind of plentiful in the solar system. The only new use I could see for a long-term low-power energy source beyond solar panels would be basically bootstrapping a camera to an ion engine and a load of Xenon and shooting it off into the depths of space forever more. Which the Voyager probes have already basically done.
Actually, it's
not; as you go farther from the Sun, the power per unit area of solar panels decreases with the square of distance. It also requires that the panels face the Sun, which causes both guidance concerns (since you're essentially building a tiny solar sail and also need RCS to keep these big fragile things with a high moment of inertia oriented correctly) and worries about pitting and so forth reducing their effectiveness.
So yes, there's sunlight in space. That does not mean there's enough sunlight in space to power mission hardware that's accessible to a craft doing whatever it's doing, particularly in the outer solar system, let alone for long enough that the panels being blasted away isn't a big deal.