John Mueller from Google was asked if it is okay for a site to have content that pre-dates when the domain name was registered or when the site first launched. John Mueller responded that it is okay, he said "It's fine to host older content on a new domain."
He added an example saying "when you move to a new domain, you generally wouldn't delete all your old content."
Here is the tweet:
It's fine to host older content on a new domain. For example, when you move to a new domain, you generally wouldn't delete all your old content.
— 🍌 John 🍌 (@JohnMu) September 20, 2019
So no, Google does not penalize sites that were registered or launched prior to the content's date.
Forum discussion at Twitter.