Menu link content in Drupal core was made revisionable in https://www.drupal.org/node/3039034 but core does not include a UI. This module exposes a minimal UI for menu link content revisions.
Features
This project provides a revisions tab with a revisions log when editing individual menu link items and a "Revisions" operation link to the new revision log.
Post-Installation
Once installed, menu items will have a revisions tab. However, currently there's no way in the interface to configure menu link content to create new revisions by default. You would need to implement your own solution so that new useful revisions are created when editing menu links.
Warning: if your site was upgraded from a prior version of Drupal before menu link content was made revisionable, and you have menu items that date back to that time, you may experience an issue where the revision created date for a menu link item is NULL. This will cause a PHP error when viewing the revisions log because Drupal core does not check that a timestamp is valid before trying to format it. The solution can be to set the revision created date for items with a null date to the last menu link changed date using a query:
UPDATE menu_link_content_revision
INNER JOIN menu_link_content_data
ON menu_link_content_data.revision_id = menu_link_content_revision.revision_id
SET menu_link_content_revision.revision_created = menu_link_content_data.changed
WHERE menu_link_content_revision.revision_created IS NULL;