I don't have access to it anymore to share, but one of my old companies had a "Management of Change Request" form that we filled out for each policy/document change. It was a simple doc specifying the policy name/number, description of change, reason for change, had a place for management review and our SQF practitioner (me) to discuss how it affected our FS-QMS. At the bottom, it required sign offs from production manager, QA manager, and one member of the executive team.
I kept all of those document change requests in a binder with a log on the front, and copies of the obsolete programs that were removed due to the change. This was in conjunction with the running Revision History on every single policy. I had a number of auditors mention they were impressed when they could see a document had been changed 6 months prior and I was able to immediately produce the documentation surrounding the change. The one place I didn't keep a running revision history was on forms used in production (only current version date and the version replaced date, because adding a revision history could make a single page form into multiple pages). When auditors would push back against that practice, I was able to use that change log in my defense to produce previous versions and explain the changes made.