http://en.wikipedia.org/wiki/Falcon_Heavy
So there's that.
The other thing you need to worry about with liquid props is sloshing. One of the early tests of the Falcon 1 rockets failed when the propellant started sloshing around in the tanks, causing a steadily worsening harmonic motion that ended up causing an abort. In the most recent Falcon 9 flight, they tested their ability to land the used stage 1 rocket safely. It nearly worked, but the low remaining propellant was centrifuged along the outside of the container, preventing proper thrusting. All these are solvable (the first was fixed, and the second is probably fixed by now), but they do require additional testing.
And that's about the only rocket system that tried that, from what I know off. Additionally, it's pretty unique in it's payload capacity too. Simply said, it's not efficient to do aspergus in real life save for gigantic rockets.
Not cost-efficient or not complexity-efficient? Because the principle of the asparagus staging is perfectly valid and very effective. You're basically taking a rocket that can already fly by itself, and then you're giving it extra fuel, but sidestep the rocket equation by also giving it engines that will carry that extra fuel until it runs out - at which point you're left with the same rocket that can fly by itself, but it is already some few dozen kilometers off the ground and going at a decent clip.
Also, the Falcon Heavy isn't merely the "only" rocket system that tried that.
It's the "first".
Neither cost nor complexity efficient at the moment, for anything smaller than the Falcon Heavy. Point is, in order to the crossfeed to work you need to use liquid fuel boosters, which are significantly harder and more expensive to handle than solid ones, hence not worth the effort for any smaller craft (Also, liquid fuel has a higher failure rate).
Additionally, in order to make the crossfeed worth the effort, you need to delay the separation of the sideboosters. Meaning that you have to use alternate systems to get the booster to land safely and be reuseable.
People have thought of it before. The N-1 had fuel crossfeeding, and was a massive failure.