In the past 20 years, I see 2 that could be qualified as offensive, at most.
NATO's command in 2003 in Afghanistan came following an unanimous UN Security Council resolution; Russia even provided support. But yeah, let's count 1 here, given the disaster of the whole thing.
Involvement during the Libya campaign in 2011? under a UN mandate again; Russia didn't veto, abstained, and afterwise criticised how it's been interpreted on the ground. Let's count 1.
That makes 2.
NATO did not join the USA in Iraq.
Kosovo Force is a peacekeeping mission.
Ocean Shield was an anti-piracy mission.
Baltic Air Policing, following the Baltic states joining NATO in 2004, is practically a shared border patrol across these states.
Enhanced Forward Presence, since 2016 is a deterrence in response to Russia actions in 2014 in Crimea.