It is built into Safari (via the History interface). Opera had this feature before it became a Chrome reskin. Chrome used to support it, but it only worked on http (not https) sites and after some years the feature was dropped. Chrome addons like Falcon bring it back (but Falcon seems unattended these days). The Min Browser offers full-text search history out of the box, but the browser experience is ... eccentric.
There was a SaaS service for this called Recawl which required a browser plugin. memex.garden offered this as part of a SaaS but they dropped this feature. Browserparrot focuses on this, again as a SaaS, again with uncertain pricing. Diskernet does this fully-local, but the software is not free (and is only offered via subscription pricing). St. Clair Software's HistoryHound does full-text history search, but only on Mac; I suppose it's got a bigger featureset than the Safari tool, and it supports not-Safari browsers.
The field is littered with previous attempts to get this right.
Depends on required features like cross browser support, cross device support, handling pdfs, ocr images, etc. Some of the mentioned features already exist in the browser. Not sure if the browser vendors are incentivized to develop and maintain such features.