You can find all of your Google activity, from Google Maps navigation to search engine queries, in the My Activity section of your Google account. You can read a list in the Google Home app or actually listen to your own voice search history (if it has indeed been recorded). Fortunately, you can easily purge your account of all these recordings.
How to delete your Google Assistant voice recordings on your PC
Go to myactivity.google.com on desktop. If you have multiple Gmail accounts, make sure you’re signed into the one associated with your Google Home device.