Yes, they did, in "From the Jam", but fell out when Foxton was asked to play on Weller's most recent album.
Bruce also played with SLF for a while.
I have generally avoided "going back" as it were, having first seen Madness in 79 in the week of the release of Tribute to the Prince- (march of the Mods tour - Lyceum Ballroom...brilliant night) SLF , Undertones Jam etc etc I have not done any of the reformed band gigs.
I went to see a mates band and they were supporting The Affair , which was basically the reformed Secret Affair and they had lost it.
However I missed the Alarm first time round but have seen them many times in the last 10 years, but they really never went away ....