It’s feasible to make post revisions public, but automatic revision saving isn’t the same as intentional versioning. You could manually publish new versions by duplicating a post to create a new version. There are plugins that will help with duplicating posts, but they probably don’t help keep track of versions. You’d need to manage that on your own.
I’m unaware of a plugin that would automate post versioning, but that doesn’t mean one does not exist. If one cannot be found, something could be custom developed.