The simple answer is to test it in staging or UAT (make sure there is nothing you need in it in case it breaks and you need to refresh it after playing). The Audit tables are just a list of incident history steps which would have to be grouped by RecId or Incident number. In terms of printing to get anything sensible it would either need to go to Excel or via an SSRS report to filter it.
I have just tested it, nothing good happened The form didnt create correctly and the object couldnt be added as a top level object.
I would use SSRS reports or excel exports (if your on Prem or have a reporting server option on SaaS)
We are on-prem. Thanks for the responses and trying that Audit form thing.