Find history of entering and exiting apps on Android
I don't think there is anyway to get this info from Android (at least, I am not aware of it, if it exists).
You have an app alternative, Usage Analyzer: Apps, Data &amp; History, which gives this information and much more information.
It does not give you explicitly exit time but it gives you start time and usage time, and you can add both to get exit time. Chrome usage highlighted in screenshot below

(click to enlarge )
It also gives you day/week app usage details.