If something has a sense of history, you could say that it is "historical" or "full of history." For example:
This old castle has a lot of historical significance.
The city's downtown area is full of historical buildings.
You could also use the word "evocative" to describe something that has a strong sense of history or nostalgia. For example:
The antique furniture in this room is very evocative of a bygone era.
The museum's exhibit on the local history is full of evocative artifacts.
You could also use the phrase "has a rich history" to describe something that has a long and interesting history. For example:
This family has a rich history dating back to the 1600s.
The city has a rich history, with many interesting stories and landmarks to explore.