It was on STS-27. It's mentioned in the Wikipedia page for that mission and also in this article:

https://www.americaspace.com/2018/12/09/dying-all-tensed-up-...

Thanks. That sounds like it there was a spacewalk to fix a deployment problem, not a recovery and re-deployment of a previously deployed satellite. That's not really relevant to the current context of "how often was the Shuttle doing something (capture-and-repair or recovery) that an expendable vehicle couldn't?".