The key problem here is a lack of accurate data. OSM is amazing, but is constantly getting improved and closer to realtime "ground truth." Historical OSM data is usually worse all-around, rather than "equally good, but as of year XXXX"
Perhaps there is a different dataset with better historical accuracy than OSM, but I do not know of one. You'd likely have to reduce your scope: trails in a specific park? Roads in a specific city?
As another commenter notes, there is a sister project OpenHistoricalMap that focuses on mapping historical data. It is rather sparse compared to OSM, but super fun to explore around e.g. NYC.