This doesn't work on all devices and browsers:
On RM for iPhone:
Go to "properties sold nearby"
Scroll through the list which should say "properties sold in [postcode] since 1995"
Find the house through the name/number
Click on it - even if there's no photo
Scroll past property sale history timeline
Under that may be a box "previously listed for sale on Rightmove month year to month year"
This also works for rentals - although there is never a price stated.
If I can't find anything there, I usually pick the top 5 estate agents in my area and search their Facebook pages.
Sometimes, they don't put the road name on listings. So, I use a key word they like to use often, such as "Victorian" or "townhouse" and I still find the listing anyway.