Was hijab in public enforced legally in premodern times?

I sometimes come across claims that many of the obligations that Muslims have in Islam are a purely personal matter and were not legally enforced, historically. It's not quite clear to me which obligations fall into which category ("purely personal" vs "can/used to be legally enforced"), or whether it's even the case that all behaviors that are fardh can be legally enforced via tazir punishments in case someone does not act on those obligations. I might ask about that in a separate question. Here I'm specifically wondering about whether the obligation to wear hijab in public can be enforced legally in sharia by the government, perhaps via tazir punishments (or any other way), and when and where it generally was enforced, historically?