There were minor attempts - a Japanese I boat shelled the California coast a few days after the attack on Pearl Harbor.
And German U-boats operated so closely to the US coast that people at an amusement park in Miami Florida were able to watch a tanker being torpedoed by a surfaced U boat.
But, Germany didn't have the long range air or bases close enough to the US to launch attacks on the US mainland. And, no surface navy and aircraft carriers capable of operating in a sustained way off the Atlantic coast.
And, Japan didn't have any bases or long range aircraft capable of reaching the West Coast and they didn't want to risk their aircraft carriers so close to the US.
Landing large numbers of troops by either Japan or Germany on US coasts was never a serious concern. Because neither country (especially Germany) could project the kind of naval power that would be required to land and support a large invasion force.
Both countries, in any case, assumed wrongly that the US would be deterred by early setbacks and not have to be invaded and occupied directly.
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