Of course, history exists objectively, and your question is not strictly a historical question. It should be regarded as a philosophical problem, which has involved the problems of existence and perception.

From the materialistic point of view, there is a lot of evidence in history, whether it is found in historical books or various objects excavated by archaeology, it is enough to prove the existence of history.

Of course, according to the extreme view of psychology, physical evidence can't prove the actual existence, only logical reasoning can prove it, so it depends on how you understand this problem.