I would love it, but no one has quite managed it yet! There are simulations of, e.g., plate motions, but even those get quite uncertain if you go back more than about a billion years.

Forward models of the flow of the atmosphere, oceans, or even the mantle all exist, but with harsh tradeoffs between resolution and how much geologic time you can simulate. For this reason, we have coupled atmosphere-ocean models, but not really atmosphere-ocean-mantle models (because the timescale of mantle convection is just too much slower than the other two). I would really love to see more integrated whole-earth-system modelling, and that's probably something I'll try to work on in the future, but we may have a long way to go!