They're just like 'springs'. In fact, they are springs,, just a different configuration. Yes. They can fatigue, over time. Rear, 'coil-spring' sag on 2nd Gen 4runners is very common. Mine has a small degree of it. Many use spacers, air bags or new, heavy-duty coil springs as replacements to correct the rear sag.
I suppose any sping type can break, given the proper force. Howerver, I can't recall ever hearing of such a failure. Torsion bar suspension was quite common on Dodge/Chrysler vehicles in the 70's. I haven't looked under many different cars lately to see which ones are using what types of suspension.
More typical is the failure of rubber grommets and bushings within which the springs ride and mount to the vehicle. Heat, cold, wet, and constant spring pressure eventually erode these rubber components. This causes slop and strange noises in the suspension system. You can extend the life of these rubber components (and CV joint boots, too) by spraying them regularly with a pure spray silicone compound (not WD-40).
Mike in AR