The v3 CRM API endpoints don't currently support property history as of 2/8/2022, so you'll need to use the legacy endpoints instead.
At the moment the v3 CRM API endpoints won't return property history, only the most recent version. If you need to get the current version and all revision history you'll have to use the legacy v1 endpoints and add "propertiesWithHistory" as the parameter instead of "properties". For example: /propertieswithhistory=firstname.
Typically I've had customers using this when trying to see Deal Stage history or verify if someone had made some sort of change along the way.