How to access / export Safari browsing as file
The browsing history is located in a database stored at ~/Library/Safari/History.db.1
This database can be accessed with sqlite3 via Terminal2:
sqlite3 ~/Library/Safari/History.db

At least on my device, the database has the following tables:
history_client_versions  history_items            history_tombstones     
history_event_listeners  history_items_to_tags    history_visits         
history_events           history_tags             metadata