If you want to ask a question about the past, simply put the auxiliary in the past!
Instead of saying in the present: Do you like bananas? Say in the past: Did you like bananas? And hey presto! You’ve asked a question about the past.
Here are some more examples:
- Did you take out the trash?
- Did Samantha finish her homework?
- Did they send the papers on time?
- Did we have a meeting this morning?
Do you have any questions? Let me know in the comments or by email!