curl --request GET \
  --url https://api.hubapi.com/crm/v3/pipelines/{objectType}/{pipelineId}/audit \
  --header 'Authorization: Bearer <token>'

{
  "results": [
    {
      "action": "<string>",
      "identifier": "<string>",
      "portalId": 123,
      "fromUserId": 123,
      "message": "<string>",
      "rawObject": {},
      "timestamp": "2023-11-07T05:31:56Z"
    }
  ]
}