can I see a history of devices signed in with my appleid?

I don't think there's a history as such, just what is currently signed in:

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

https://support.apple.com/HT205064

Learn which devices appear in your Apple ID device list, how to see your device's details, and how to remove a device, if necessary.

Ship786 Said:

"Somebody else signed in on a device that does not belong to me in order to view messages.[...]“

Modify your Credentials:

If you suspect that your Account is confiscates, then immediately Modify your credentials. One major thing to consider is using a new eMail address for your Apple ID.

What to Modify:

• Modify: your login credentials (Using Both a New eMail and a New Password for each and all sites)
• Associate: a different method of payment to your account
• Enable: Two-Factor Authentication for Apple ID and for all other accounts that have such an applicable option

Click on this link "If you think your Apple ID has been compromised" --> https://support.apple.com/HT204145

Security and your Apple ID - https://support.apple.com/HT201303

Contact Apple for help with Apple ID account security - https://support.apple.com/HT204169 "This article provides country-specific Apple Support contact information for customers seeking help with their Apple ID password or other security-related issues." Better for directly reporting an issue.