Ability to see history of approvals in SR object

Summary

Can we see history of approvals directly from a SR (on a custom approval BPM flow)?

Content

Requirement:  Custom approval flow  (BPM) is there on SR object.  Customer wants to see the history of this approval process, directly from SR record.  Such that when someone clicks a button or a link in SR it should show the history of BPM approval process like, who approved/rejected when and with what comments etc

History is a feature in worklist, but the task is available only for those approvers not for everyone and that too we have to go to worklist to see.