Material to change its color by temperature condition meets over time
Compounds that irreversibly record the thermal history of the surface they are attached do do exist and others are being developed.

One class, used in harsh industrial environments is described on the Sensor Coating Systems site.

There are chemical systems used to detect high temperatures in refrigerated food, but most don't seem to be single chemicals. There are certainly many devices in development, but how many involve single chemicals is unclear.