CQRS versus Event Sourcing for auditing. Which is better, I wonder?

were looking at ways to improve our auditing capabilities. weve been debating between a pure CQRS pattern and a full Event Sourcing implementation. both seem to offer good historical data, but Event Sourcing feels more complex to set up initially. has anyone here implemented either for auditing? what were your experiences? did CQRS provide enough auditability, or was Event Sourcing the only way to go for immutable history?