WordPress only supports revisions for post content, not terms.
To create a system that monitors changes in post-term relationships over time, you would have to write a plugin that explicitly handles that.
If you’re interested in going down that route, you would probably need to use the save_post hook to save term data (saving as serialized post meta would probably be best) and the add_meta_box hook to output a list of term updates/revisions.
This would be decoupled from the existing revision system unless you wanted to get even more technical, but it might be the most expedient way to get what you want.