As @Menglan pointed out, the crab canon from Bach's musical offering is probably the most famous example. I transcribed it and put it on musecore:
The art of fuge (Also Bach) has 2 fugues which can be inverted. Look for Contrapunctus XII and XIII (there's a rectus and an inversus version for both of them)
I wrote some mirror canons myself. Of course, I'm nowhere close to the grand wig himself, but I had a lot of fun writing these:
Both these canons are written so that you can put the page upside down and get the same piece again. And because of this property, you can play each piece in inverse too. So playing the rectus and the inversus right after each other yields a palindrome.