hello
It looks like MySQL 8.0 added a feature like this:
Is this proceeding? We have large scale Customers demanding this to be implemented. Thank you.
At the moment it's not progressing. MariaDB Foundation is a non-profit organization and tries to treat all its users fairly and equally. And for now other more widely requested features were prioritized over this one.
If your customers demand a feature, you can get in touch with one of commercial MariaDB support providers, for example, MariaDB Corporation, that has a big pool of developers, and you'll be able in turn to demand something to be implemented.
This feature is currently considered a candidate for the next major release of MariaDB Server
IMHO timestamp in mysql table is not so interesting (it is better to loock in audit data) as which time password changed (easier to handle) but is it my IMHO
on practice the feature is useless user can change password history_length+1 times and return old password 
branch bb-10.7-MDEV-9245-4
commits:
ca4ef7185da363f17d5ef13a40e3572d533e98db
271afbc88e48307299c7a38abfb74dc372c7eb2c
new commit
cf3c58e85a2dc7fff12f43b5e95577c22829b317
branch bb-10.7-MDEV-9245-5 commit 0e09bc41cbab05ba1f67c7bf491b9aeebe0bec16
ok to push after adding tests for sql errors in the plugin (on top of the commit 0e09bc41cbab05ba1f67c7bf491b9aeebe0bec16)