Is there any way to determine if the sun and the trajectory of planets was tilted at a different orientation in ages past?

If the sun, and the plane on which the planets orbit, was at a different tilt in some earlier time in the solar system’s history, we’d have had a different night sky orientation and different north star.

If this was ever the case, would there be any evidence for it?

I do not believe, nor have heard, this to be the case. Its more a science fiction idea in my mind. But how would we determine if it were the case?