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Time travel debugging on embedded ARM has been available for over 20 years via trace probes [1].

The category namer of time-travel debugging, TimeMachine, (hence time-travel debugging in contrast to other attempted names such as reversible, bidirectional, record-replay, etc.) was available in 2003 and supports/supported the ARM7 [2]. Note, that is not ARMv7 architecture, that is the ARM7 chip [3] in use from 1993-2001.

From what I know, the ARM7 was one of the first ARM designs implementing the Embedded Trace Macrocell (ETM) which could output the instruction and data trace data used to support trace probe-based time travel debugging.

[1] https://jakob.engbloms.se/archives/1564

[2] https://www.ghs.com/products/probe.html

[3] https://en.m.wikipedia.org/wiki/ARM7