In the documentation linked below you will see various methods in which Data 360 (formerly Data Cloud) objects can be accessed via the Timeline feature. However, it is important to note that this functionality is not supported within Data 360 One Companion Orgs.
Enable Data 360 Engagement Events
Set Up a Timeline to Show Engagement Events from Data 360 Data Model Object
Set Up a Timeline to Show Engagement Events from Data 360 Data Graph
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