So I have been wondering at any point in history of bitcoin has any miner or group of miners ever successfully achieved this goal, or have any one come closer in achieving it?
It has not been achieved before.
Nobody has achieved it which was the main reason why Satoshi provided an incentive for any miner that's able to mine a new block so that they don't think of 51% attack but rather compete for their block reward.
Some blockchains having mining reward but suffered 51% attack in the past.
It's impossible for a miner or mining pool to control more than 50% of the mining hash rate because the money to be spent on that is very expensive and the no one would want to do that because the cost is far higher than the benefits. To have a bigger hash rate than all the current collective hash rate of bitcoin network is not easy and a waste of time and money. This is why the network is secured and cannot be controlled by anyone
The main reason 51% attack is not possible is because miners can not disrupt where they are seeing money. Any miner that will attempt that will be external but no external miner that will have that huge amount of hash rate.