I used Photoshop Elements - Start with a full black layer, then read in the older drawing PDF/png/jpeg/bmp to a new layer and use a modification layer of Red; read in the newer drawing PDF/png/jpeg/bmp to a new layer and add a modification layer of 50% transparent green.
Everywhere they match, the color will be an unpleasant yellow/brown. Where only the old remains is red. Where only the new appears will be green.
You can use "select by color" to find even a single pixel of red or green, allowing easy location of so small a change as a "." becoming a ",". Ordinary Photoshop tools can be used if there is a change of line width to select and either enlarge or trim pixel widths.
Unlike most compare software if someone moved a view, even to a to a new sheet, you can make the same adjustment to the pixels of whichever layer you like to confirm the actual changes to the view contents.
Also unlike most compare software, it can handle unskewing scans, fixing different X/Y scaling from scanning, and make a fairly good comparison to hand-drawn modifications.
Text may be tedious; not sure that most compare software can handle changes in line breaks, but copy/paste in Photoshop Elements could manage it.
Best, a single file can handle multiple versions so a single drawing full revision status can be retained and any pair of versions compared by changing the color/transparency and showing only the desired layers, allowing the full history to be examined in one location.
This can also be done in the free GIMP software, though I liked the Photoshop workflow better.