Stilton the Gemini spacecraft had 4 gyros and had little worry of gimbal lock (an entire order of probability less worry anyway).
Apollo only had 3 gyros and could indeed run into gimbal lock situations, the most problematic of which was on Apollo 11. Several astronauts had been vocal about the decision to drop the 4th gyro on Apollo and after the problem on Apollo 11 Micheal Collins quipped "How about sending me a 4th gyro for Christmas"