Query to find when a database role's permissions were changed

Question

For a Microsoft SQL server, is there a query that shows the history of when and who changed a database role permission?

Is there combination of system views that show the following information?

For example:

Role    Permission             Modify_Date                 Grantor Name
public  Alter any certificate  2023-08-11 12:07:50.117     domain\user  (when they selected the permission)
public  Alter any certificate  2023-08-11 12:08:00.102     domain\user  (when they removed the permission)