Look at Objective-See's OverSight (free) app - https://objective-see.org/products/oversight.html
It'll alert you to what processes/app are using your webcam or mic as well give you the option to apply access rules to apps. Other than alerts and notifications, logging is limited although it does give you the option to pipe event data to a bash script so there's potentially an option there to log events.
Otherwise you'll probably need to trawl through system logs (use the Console app) and see if a webcam event/trigger is listed there.
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