How to find my map history on my iPhone?

AFAIK Maps does not keep a history of your travels, nor does Find My. The latter has a Significant Locations setting (Settings > Privacy & Security > Location Services > System Services) which if activated helps the app "...to learn places significant to you in order to provide useful location-related information in Maps". However, this is not available as a record of your movements.

Maps keeps some information which you can see if you pull up the lower panel in the app, and touch on the More label in the Recents category. This will show your recent searches.