TACACS is a AAA server (Authentication, Authorization, and Accounting) - i.e., loosely the "A" in the FCAPS network management model (Fault, Configuration, Accounting, Performance and Security - see http://www.iec.org/online/tutorials/ems/topic03.html for more).
What you seem to be asking for is Configuration Management - the "C". Cisco's product that targets that capability is the RME component of CiscoWorks LAN Management Solution (LMS).
I believe that I understand your question a bit differently than the previous responses. If I am correct you are asking about the ability to record and report through TACACS about config changes that are made on the routers and switches in your network that currently use the TACACS server for authentication.
If your TACACS server is the Cisco ACS server then you can accomplish what you are asking using the accounting part of aaa. On the routers and switches configure accounting for commands. The syntax on routers is:
aaa accounting commands 15 default start-stop group tacacs+
The syntax on catalyst switches for config commands is:
set accounting commands enable config stop-only tacacs+
If you want to see all privilege level commands use:
set accounting commands enable enable stop-only tacacs+
If you configure this the router or switch will send records to TACACS which will record config changes. We do this routinely on routers and switches at a customer site and it works well for us.
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