Yes. On the 25th of August, 2012, Voyager 1 measured very abrupt changes in two out of three of the criteria listed in the question. This was in fact Voyager 1 crossing the heliopause. In a single day.
The kicker was that the magnetic field direction only changed by 2°. This was a puzzlement.
By sheer luck, a large coronal mass ejection from the Sun tickled the plasma around Voyager 1 a few months later. The resulting ringing allowed them to measure the plasma density, which matched what was expected for the interstellar space in the vicinity of our solar system. They were able to find earlier, weaker oscillations, extrapolated back, and found that the density increased very rapidly in, you guessed it, August 2012. That provided the confirmation they were looking for.
The magnetic fields were expected to have different directions since they have different sources. There would be no reason for them to have the same direction, so that would be unlikely.
But, not impossible.
In short, there was a very sharp change when crossing the very real heliopause. The determination that that really was the heliopause was delayed by an unexpected approximate alignment of magnetic fields.
On the 5th of November, 2018, Voyager 2 crossed the heliopause entering into interstellar space.