Isn't that now built-in on Android? You can view which app accessed which permission, and you get an icon on the notification bar on location, camera and microphone access. I suppose the timestamp isn't as accurate though.
Really? I've seen it quite a few times when I was switching back & forth between verizon, sprint & at&t. Sometimes the notification comes & goes so fast I log it with.
https://www.f-droid.org/en/packages/com.nitish.privacyindicator/
This will log every notification you get & also notify you when an app uses your camera, microphone, or location. It's a great app to have!
Discussion
It's not as good built in & can be turned off for specific super apps. This on the other hand is a vetter alternative.