Not sure I can name them all. But, here are the places / cities I remember. Canada, Mexico, Bahamas, Netherlands Antilles (Caribbean), Grand Cayman Island, Spain, France, Germany, Italy, Greece, Ireland, Scotland, Switzerland, Hungary, and Netherlands,
Although we never docked in some countries (don't dare list them), there were several others that the submarine I served on had under periscope surveillance. They were most coastal, communist countries where they would have blown us out of the water if they knew we were there.