Found it!
I was sure I could do this in 9.1. So sure I went back and fired up our old system just to remember how. It was the "Relationship Report" tab.
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Take a look at the attached pictures. Notice how, when using the 'as stored' config spec., each drawing version lists is corresponding model version.
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Clik here to view.
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It still exists in 10.2, but has to be manually added to a new tab. It's not visible by default out of the box.
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