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is there a audit trail for tracking documents that have been signed
We are sorry for the delay in response to your query.
Since the Document Cloud UI has been changed, so you may refer to the Adobe Document Cloud page and click on the "For Signature" tab shown in the screenshot given below-
Select filter option given at the upper right corner and select the option "Completed"
Or refer to the help article for detailed description- New Send for Signature experience in Adobe Document Cloud
Hope this answers your query.