My thought
Create a table to log the visits with a date/time field, a user field, and a related record # field
In the table you want to see when someone visits, create a trigger field such as a checkbox or what not
Use a form rule that says when the record is saved check the box as well as one to uncheck if it is checked
Create an automation that when that checkbox field is modified it creates a record in the log table with the date/time and user who last visited the record as well as log the record ID # of the record visited.
You can then create a report to show all records in the log table that the Record ID# matches the Related Record #.
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ProjectsForce
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