gdb has checkpoint/restart that uses fork(), though you have to specify the checkpoints manually. https://sourceware.org/gdb/onlinedocs/gdb/Checkpoint_002fRes...

It has another mode where you can record and rewind execution traces, which sounds more like the description, but I'm almost certain that doesn't use fork. https://sourceware.org/gdb/onlinedocs/gdb/Process-Record-and...