HSTS solves this to some extent. If you've visited the domain in the past (or the site operator submitted to the HSTS preload list), a different certificate presented would be flagged by your browser.
It isn't too useful nowadays, is it? With most websites' certificates being from Let's Encrypt or similar CAs automated via ACME and up to 90-day certs; and this getting reduced in the future to only 47 days. Every month you'd need to accept any website's new certificate.
Also, does HSTS have something to do with the authority? AFAIK it only forces the browser to use HTTPS and never plain HTTP for that domain, but if you switch from a legit Let's Encrypt to a legit ZeroSSL cert, HSTS won't care about it; only the browser if you have a not-trusted certificate from another CA (or self-signed).
There used to be a Firefox addon that could warn you if the actual certificate changed, but it died with manifest addons.