Are there shouts/words for shouts that are missable?

The Word Wall in High Gate Ruins in Hjaalmarch is missable. The wall lies through two gates which can be opened after killing Vokun. However, if you kill Vokun, exit the dungeon through them but miss the wall, the gates will shut and you will not be able to enter that part of the dungeon again if entering coastside. This is a bug, as stated here, and is fixed in the Unofficial Skyrim Patch.

There is another Word Wall near Bard's Leap Summit: it's out in the open so you can revisit it, but it's hidden and very easy to walk past, so you may well 'miss' it in the traditional way.