Whether you want to include the version history when printing or include the version history when opening the document in the client application?
If you want to include the version history when printing, label feature is the only available way.
If you want to include the version history table when opening the document in the client application, click "File" tab -> Info -> Version history.
And you could use PowerShell to get version history details report.
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@Marco van der Slikke
Sorry for that SharePoint can't meet your requirement right now.
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