Is there a way to see history of WordPress database changes?

There is no WordPress specific query log unless you build one yourself. The only history you’ll get will be the history that MySQL itself provides.

Unfortunately, the database does not distinguish between applications, so you will have to filter by tables and database to just those relevant to you. How you might do that is beyond the scope of WordPress though, and in the realms of SQL server admin and expertise ( and will depend on the vendor of the database you’re using, e.g. MariaDB, vs stock MySQL, etc and the version of the software used )