Lots of academic discussion to be had about what exactly constitutes an invasion, but the U.S. has not taken a mass of its armed forces into a country to fight that country's recognized government since 19 years ago in the 2003 invasion of Iraq.
Things I don't consider invasions, from strongest to weakest: steaming through international waters that China considers its own; fighting Daesh on Iraqi soil at the explicit invitation of the Iraqis; helping Saudi Arabia in its fight against Houthis in Yemen at the invitation of the Yemeni government; enforcing a no-fly in Libyan air space; special forces fighting Daesh on Syrian soil. Reasonable people may disagree on some of these but I believe my view is the mainstream. When people think of "a military invasion," the term certainly has a connotation, and maybe a denotation, of heavy armor and infantry divisions rolling in for the purpose of occupation.