You can enable record revision history only if you use a list/grid/calendar/kanban/gallery elements in the Blank page of interfaces. You can not enable this for the record picker element.
Hi,
Yes, it's possible! Many elements in the Interface will let users click on a record to see more details, which should let you customize a record Layout including the option to show revision history. For example, if you add a Gallery element to an interface, under Permissions you can allow users to open record details by clicking on a record:

Then you can customize the Layout that users see when they click a record to view the details, including toggling comments and revision history:

Here I've disabled viewing comments and enabled history -- if both comments and revision history are toggled, it just changes the text displayed at the bottom where it says "See revision history", since comments and history are accessed in the same pane, and it's not always obvious that you can also see the history there.
A lot of interface elements have ways to eventually show a detailed layout like this, but it depends on exactly how the interface is set up. If there's a specific use case you're trying to make work, I'd be happy to help further!
Best,
Rowan