How can I see past devices that have accessed my apple id

See the following Apple articles: 

If you think your Apple ID has been compromised

If you think your Apple ID has been compromised - Apple Support

Recognize and avoid phishing messages, phony support calls, and other scams

Recognize and avoid phishing messages, phony support calls, and other scams - Apple Support

To keep your Apple ID account secure, see the following Apple articles:  

See who has access to your device or accounts

See who has access to your iPhone or iPad – Apple Support (UK)

Delete suspicious content from your devices

Delete suspicious content from your devices – Apple Support (UK)

Check your Apple ID device list to see where you're signed in

Check your Apple ID device list to find where you're signed in - Apple Support

• if you see devices that don't belong to you, delete from your account.

Personal Safety User Guide -> Personal Safety User Guide – Apple Support (UK)

Manage and use your Apple ID -> Manage and use your Apple ID – Apple Support (UK)

(if you haven't already done this) Two-factor authentication for Apple ID -> Two-factor authentication for Apple ID - Apple Support

Change your Apple ID password -> Change your Apple ID password - Apple Support

• Create a strong password for your Apple ID, It is best if your password consists of eight or more characters and include upper and lowercase letters, and at least one number. You can also add extra characters and punctuation marks to make your password even stronger. 
• Never provide your password, passcode, security questions, verification codes, recovery key or any other account security details to anyone else. Apple will never ask you for this information.

Then see this Apple article: What to do after you change your Apple ID or password

What to do after you change your Apple ID or password - Apple Support

Never jailbroken your iPhone.

VmBeltran wrote:

I’m pretty sure I did when I reach to Apple Support; but I post that feedback, thanks!

But I still have that question on my mind, how could those devices were added to my Apple ID having observed all precautions, at least those that I know and have access to, like encryption, advance security, Private relay, (All that Apple One offers actually) and 2 steps authentication, I don’t install apps for other that App Store other than Chrome and a couple of more apps but from know developers, I don’t share my passwords, so, that’s my true worry. They seem to find the way all around this and added not one, but two devices!

If you believe that your Apple ID has been compromised, see here:

If you think your Apple ID has been compromised - Apple Support

There is no such history retained, at least not where you can see it.

I think Apple should implement this log and make it accessible to the user of the account; Just a few days ago, I detected 2 new devices logged in on my Apple ID account, devices that I didn’t add or known; fortunately I was able to remove this devices but I didn’t have the precaution to take note because my immediate response was to remove them and change my passwords. I contact technical support and they help me as always very kind and professionally; how ever the lack of this logs makes the hole thing more difficult to solve; when, how and what those devices access and were they logged, that make more easy to prevent this problem as a common user.

I’m pretty sure I did when I reach to Apple Support; but I post that feedback, thanks!

But I still have that question on my mind, how could those devices were added to my Apple ID having observed all precautions, at least those that I know and have access to, like encryption, advance security, Private relay, (All that Apple One offers actually) and 2 steps authentication, I don’t install apps for other that App Store other than Chrome and a couple of more apps but from know developers, I don’t share my passwords, so, that’s my true worry. They seem to find the way all around this and added not one, but two devices!

VmBeltran wrote:

I think Apple should implement this log and make it accessible to the user of the account;

Tell Apple what you'd like to see:

Product Feedback - Apple

Freyja6403 wrote:

Is there a way to see devices that have used your Apple ID recently, even if they have “signed out” after they were done?

No.

Go to your USER ID in Sonoma. They should populate the bottom panel