I've seen movies shot from the point of view of a character, (mostly film noir) but can't recall a historical film made that way. "Found footage" would be a misnomer, as motion pictures didn't exist. Maybe historical docudrama would be a better term?

The BBC did a couple productions were a famous historical battle or some other event was covered as if television news actually existed. Think I saw at least one of those way back in high school.

There was an entire episode of MASH shot from the perspective of a wounded soldier who was unable to speak from his injuries.

Also, keep in mind even modern film cameras can't hold enough film for more than ten minutes or so. Hitchcock had to use clever camera work and editing to sustain such an illusion in Rope. Even something shot digitally would have to hide an edit somewhere.

Stanley Kubrick did shoot by candlelight for the 18th century setting of Barry Lyndon.

I don't recall Von Daniken mentioning it. ;)