macOS’s built-in Terminal.app has a feature I love for this, which I haven’t seen anything else replicate, which is that pressing Cmd-Up just scrolls up to the last command prompt in your scroll buffer. Just press it as many times as you want to find the beginning of previous commands you typed.

I’m not sure how it’s implemented… maybe they take note of what your prompt looks like and generate a regex for it? Or maybe they take note of when the last time it was that your shell process had no child processes and read from stdin… but it works quite reliably.