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2) Steam > Settings > Account - Security Status shows when Steam guard was activated.
Note: If you deactivate Steam Guard then reactivate it, it will only show the date from when it was activated and not all the previous times.
Alternatively: check the XML data on your Steam profile adding the ?xml=1 flag.
For your profile: https://steamcommunity.com/profiles/76561199032558029/?xml=1
As you can above, it's March 10th of this year.
The above page by @Shogun Blade should usually show the date.
If you use/used Steam Guard Mobile, you get an E-mail when the authenticator was added to your user-account.
That E-mail will have the time/date when the authenticator (SGMA) was added.