I do wifi tracking for a living and no there is no off the shelve solution for consumers that I have ever seen. You can accomplish this with a raspberry pi, a wifi adapter that supports monitor mode, and tcpdump set to the right filters. However, I don't see why anyone ever would.

As others have mentioned many of the top wifi brands, Cisco, Aruba, and Meraki (now owned by Cisco) provide this kind of information to clients at their enterprise level.

The reason this doesn't exist for consumers for security at least is that in the use case you described it is hard to tell what MAC address belongs to each device. Even in a neighborhood, you will detect hundreds of macs a day due to mac spoofing that modern phones do.