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.
Take a look at the attached pictures. Notice how, when using the 'as stored' config spec., each drawing version lists is corresponding model version.
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.
