Not really, OSM isn’t very well suited for that as its goal is to have an up-to-date map. This does mean you can look up recent history using snapshots (e.g. an older release of planet.osm but because it consists of older states of the map, it also includes missing and inaccurate data besides what truly changed in the recent past.
For truly historical stuff, I recommend the spin-off OpenHistoricalMap instead where historical / “out-of-date” information are preserved (including when they existed and when they ceased to exist) but AFAIK isn’t as active as OSM alongside being newer so it also isn’t as detailed as OSM proper.
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