Comment by zie

You can get pretty far with just PG using tstzrange and friends: https://www.postgresql.org/docs/current/rangetypes.html

Otherwise there are full bitemporal extensions for PG, like this one: https://github.com/hettie-d/pg_bitemporal

What we do is range types for when a row applies or not, so we get history, and then for 'immutability' we have 2 audit systems, one in-database as row triggers that keeps an on-line copy of what's changed and by who. This also gives us built-in undo for everything. Some mistake happens, we can just undo the change easy peasy. The audit log captures the undo as well of course, so we keep that history as well.

Then we also do an "off-line" copy, via PG logs, that get shipped off the main database into archival storage.

Works really well for us.