At the moment the last modified date/created date for Elements in PI AF aren't exposed through the PI Web API. I would recommend making a UserVoice suggestion for this and voting on it to let the product managers know your interest.
Can I also ask what is your specific use case for this? I would recommend including it in the uservoice suggestion.
Thanks for the suggestion. In particular I am thinking I could make some middle ware much more efficient if I could identify when AF configuration changes were made. No need to walk the config if I already have it cached and it is unchanged.
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If PI Web API supports pushing AF object metadata through "Channel" (on top of WebSockets technology), are you interested in? For your use case, you can subscribe or sign up for change events of servers/databases/elements and invalidate your cache based on the events.