We are attempting to do all of this in HEAT 2016.1.1 with Discovery. We want to be able to track incidents, changes, etc. against the CIs, but one of the hurdles is getting users to link them to the other records - that may be just a training issue, but isn't as easy to do as I'd like.
In terms of using this tool for configuration management, there are some things we'd really like to see, such as: a better way to set up the Map Trees; clearer representation of what has changed (hardware, software); and the inclusion of software data in the baseline comparison. I would also like to see much more information about all of this in the help files. There are several things that are not explained with much detail. It would also be good to have a field to classify a CI in terms of criticality; that would be helpful in setting response times when a CI goes down, or when applying changes to it. I can add such a field myself, but that would be a nice OOTB feature.