Is there a way to retrieve all historical form submission for contacts?
Looking at the Forms API, it looks to be mostly an endpoint that lets you post to a given form if you have external forms you want to use instead of the HS Forms.
We are hoping to gather all historical form submission data for a give contact record similar to the historical data you see on a contact's timeline.
There isn't currently a public API for pulling historical form submissions. Historical property value info is stored in a contact's property history, which you can access via the contacts API. If you have the inclination, I would encourage you to check out the Ideas Forum on the HubSpot Community. There, you can create a post including your use case that product and other customers can see.