When on a page, click on the Tools Menu (or ●●● in newer versions on the upper right corner of the page), choose "Page History", and then it should show all the previous version dates in a nice table.
Or are you asking about getting version dates for all pages at once?
ContentEntityManager (https://docs.atlassian.com/confluence/latest/com/atlassian/confluence/core/ContentEntityManager.html) has a function called getVersionHistorySummaries, which is just a list of objects. Then you should be able to step through the VersionHistorySummary objects and call getLastModificationDate() on each one.
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