CQRS by itself does not imply using ddd or es.
(Edit: ok, they matter some, in the way names of variables and apis matter.)
My issue with audit logs in crud systems is that they're almost always at the row level, which is almost useless when you're trying to make sense of the audit log. An audit log of "operations"—i.e. command log—is far more useful, and trivial to implement when CQRS is used. I'm guessing that's what this article details...