That would be done in Setup -> Update Feeds by turning on tracking for each field on the form where you want to have a historical record. That setting is field-by-field, and there is a relatively low upper-limit for how many fields can be tracked across the entire instance. That data will then be available in the System Activity feed on the object, and in Journal Entry reports referencing it as well.
That tracking is only forward-looking, so enabling it now will not create historical change records.
https://experienceleague.adobe.com/en/docs/workfront/using/administration-and-setup/set-up-wf/system-tracked-updates/system-tracked-update-feeds
