How can we enable auditing on all Setup & Maintenance tasks?

Summary: We need the ability to track configuration changes implemented in Production. Our auditor requires that we provide details of configs performed(old value vs new value), who performed it, and when it was created/updated.

We would like to turn on auditing for Financials, SCM, and PPM; all configurations under Setup & Maintenance; including workflow changes. The current Manage Audit Policies/configure Business Object does not appear to be inclusive of all tasks for 'Setup & Maintenance'. Does anyone have recommendations on how we can meet this auditing requirement?

I have reviewed two similar posts but have not found an answer yet. I am hoping the community can provide guidance.