It did, and at least in some important ways we know exactly what's changed.

Bee Wilson has a book called Consider the Fork: A History of How We Cook and Eat which addresses some of these questions. It's a pretty simple overview and doesn't get to deep, but the general consensus is that yes, food tastes differently.

Not history but Michael Pollan is another author who's written considerably about how the food we eat is affected by the production, as well as looking how some of those changes have occurred. Corn-fed beef tastes different from grass-fed beef. Game meat is gamey because of the food those animals eat. Animals would have been roasted whole rather than gutted.

For example, does bread now taste vastly different to bread in the past? If so, can we replicate the techniques used in the past and get the same result?

There are people who do exactly this. Chapter 3 of Wilson's book describes earlier British cooking methods, still being practiced by a man named Ivan Day. People go to great lengths to reproduce traditional breads by using certain kinda of water and strains of grain.

What about meat? Has the industrialisation of the meat industry changed how meat tastes?

Marbling is a good example of this. There's been a trend to have leaner and leaner beef, which wasn't always the case and which changes the flavour.

The other thing that's different is what is eaten. Organ meat used to be much more common the North America. It's fallen out of favour. As a more personal example, I've spent the past week eating things like barking deer and porcupine, but as the region I'm in modernises and industrialises and as these animals are over-hunted, it's going to be unlikely that things like that or python or howler monkey stay on the menu.

I would guess that this would be a pretty difficult question to ask because there's really no way of documenting taste in any precise manner.

While that's true, we can assume that replicating all the significant factors would also replicate the taste. You'd just have to be able to know what factors were significant. It's why New Yorkers often claim it's the water that makes their pizza dough taste good (it's not, it's been shown), and why breweries like Dogfish Head feel they can recreate earlier brews (though these too are modified to better match modern tastes).

I'm a little bummed you didn't ask about cheese because If I answer one more cheese related question I technically qualify for [history of cheese] flair here. Maybe next time!