I think even in the case of liquid-gas transition there is symmetry breaking. The order parameter in this system is the density, and the symmetry that the gas density respects is translational symmetry. On the other hand, the liquid does not have translational symmetry. There might be some confusion when thinking of a liquid as an incompressible fluid. Doesn't that imply that the density of the liquid phase is uniform too? Actually one needs to think about the whole system, which includes the container.
Lets look at it from the perspective of degenerate ground states. For a gas, there is only one ground state, the state where all the particles fill the container uniformly. For a liquid, there are many ground states (assuming the liquid has no surface energy). In a zero gravity environment, you can have the liquid fill the bottom half of the container, top half, or be broken up into many droplets. All have the same energy, thus a degeneracy of the ground state. This implies a form of symmetry breaking. This is very similar to the Ising ferromagnetic transition.