There's no way to see when someone filled out a specific form, but we do have something similar. You can view when someone was first added to the account, how they were first added, and when they were last updated. In many cases that should give you the information you're looking for, unless they've been updated repeatedly. When exporting the contacts, you should see that information available in the 'advanced' options, as seen below.
Aaron_H. Community & Social Media Support
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