While I'm not sure of any reports, however you can setup email alerts when changes are made, this can become rather chatty. We perform monthly audits and I use the config audit tool. just select the days and let it run then export to excel and add my notes.
Hope that helps.
the 'Canned reports' are on Traffic...Threat...URL....NOT Configuration or system
also it is not a choice in the custom reports (Database)
however - you could view the configuration logs and build(save) a filter that would
look for Config changes...ie Set, Edit, Commit -- single or combination of search parameters
after saving it you can re-run it periodically and even export to .csv
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