Best options for tracking history of data?

I’m interested in tracking our data over time.

The basic requirement is for debugging and disaster recovery, but I’m passing familiar enough with the issue that I can imagine being able to set things up so I get that but much more.

I’ll need something that I can use on eg AWS, probably RDS, although I’ll listen to an argument for eg Timescale DB.

I want something easy to set up, rugged and with minimal changes to client code. My current needs are simple, but I’ll take “extra features basically for free” if I can.

I can’t find a good general discussion of options for this. If I missed one, I’ll take a link and offer a thank you.

Otherwise, this seems a useful topic to discuss.

Thanks in advance.