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Are you using a third-party monitoring tool - most modern tools throw this in for free - check product specs for "configuration audit" and "configuration tracking" - we throw it in with eG Enterprise https://www.eginnovations.com/product/capabilities/change-configuration-tracking - commercially maybe LanSweeper might do some of what you want? I don't know of any free product - but sounds like the type of stuff Carl Webster's scripts might do....

we are not using any tools as of now. still exploring

If only want to do audit - maybe LanSweeper is an option? But a lot of monitoring tools do this too - so a lot of people already have a product that does it but they don't necessarily know ... we have a massive tab and menu on the main product console and still get asked by customers if we could do this 🙃 so worth those with monitoring tools in use asking their vendor...

OpenAudit is free, I used to use it a long time ago and it was good back then.