The GDPR allows you to force companies to delete data that
was knowingly and willingly commited, though, via article 21 and 17c GDPR [1], except if there are "overriding legitimate grounds for the processing" of the data. I doubt there are, at least for low-profile, personal websites and historical WHOIS data.
You could IMO also make an argument that the collection and scraping of WHOIS data without consent was unlawful processing as a whole, as the data was not provided to the domain NIC with explicit consent for third-parties to collect and save them forever, which would even make any overriding legitimate grounds for processing moot.
17a may also apply: The reason for WHOIS is to find out who owns a domain now, right? There is no version history. Historical WHOIS data does not serve this purpose anymore.
It's quite the can of worms.
[1] https://gdpr-text.com/de/read/article-17/