Is there a plugin or a way in the wordpress that would let us have different versions of a post or page accessibe to users?

It sounds like you are after adding Wiki functionality to your WordPress site(but with editing restricted to author). See this write up on the topic (complete with revision links above comments).

The above article uses the Post Revision Display plugin which hasn’t been updated for a while. However, as he is an tech writer and still using it, I assume it is still compatible with latest WordPress. If not just search wordpress.org for other WordPress Wiki plugins, I’m not sure if or how those alternatives will restrict revisions, but one may fit the bill.

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