Do we have audit logs for Requisition Approval Setup?

Summary:

Do we have audit logs for the Requisition Approval setup that will show the time stamps (date and time) when was the changes applied and which rules have been modified. This is an audit requirement from our company and the changes in the approvals with time stamp is needed.

Content (please ensure you mask any confidential information):

In the approval configuration page, do we have a functionality to pull an audit report that will show the time stamps (date and time) when was the changes applied and which rules have been modified? Currently, what can only be seen is via View > Columns > About this record.