Q: Is there an audit trail that can be printed to show transactions / changes to records on a daily basis?

A: Yes very easily.

Go to the Main Margill window, select all the loans (probably only Active loans) , Tools > Various > Display the history of changes for selected Records.

You can then right click with the mouse to see the changes for the day, yesterday or any period of time.

You can also see the log of changes loan by loan in the Data window of each loan: