So far there is no public API (Python libzfs bindings is at the mercy of private API). See if a "channel" program (Understanding ZFS Channel Programs by Dru L) would offer anything. Have not used either myself.

History of commands -- what OP seems to be wanting -- is available by zpool-history(8) command. There is also zpool-events(8).

In reply to Re^4: How to instantaneously automatically save by parv
in thread How to instantaneously automatically save by Anonymous Monk

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