Audit logs are already enabled by default on AEMaaCS, but they are not really a log file in the traditional sense.
Instead, audit events are stored in the repository under the path /var/audit. AEM Devs can use the Repository Browser to inspect audit events.

Therefore, audit logs cannot be forwarded to Splunk like the request or error logs.
Since audit logs occupy significant space in the JCR database, they need to be cleaned up regularly. The following cleanup configuration should be applied to AEMaaCS environments.
kind: "MaintenanceTasks"
version: "1"
metadata:
envTypes: ["dev","stage","prod"]
data:
versionPurge:
maximumVersions: 15
maximumAgeDays: 20
paths: ["/content"]
minimumVersions: 1
retainLabelledVersions: false
auditLogPurge:
rules:
- replication:
maximumAgeDays: 15
contentPath: "/content"
types: ["Activate", "Deactivate", "Delete", "Test", "Reverse", "Internal Poll"]
- pages:
maximumAgeDays: 15
contentPath: "/content"
types: ["PageCreated", "PageModified", "PageMoved", "PageDeleted", "VersionCreated", "PageRestored", "PageValid", "PageInvalid"]
- dam:
maximumAgeDays: 15
contentPath: "/content"
types: ["ASSET_EXPIRING", "METADATA_UPDATED", "ASSET_EXPIRED", "ASSET_REMOVED", "RESTORED", "ASSET_MOVED", "ASSET_VIEWED", "PROJECT_VIEWED", "PUBLISHED_EXTERNAL", "COLLECTION_VIEWED", "VERSIONED", "ADDED_COMMENT", "RENDITION_UPDATED", "ACCEPTED", "DOWNLOADED", "SUBASSET_UPDATED", "SUBASSET_REMOVED", "ASSET_CREATED", "ASSET_SHARED", "RENDITION_REMOVED", "ASSET_PUBLISHED", "ORIGINAL_UPDATED", "RENDITION_DOWNLOADED", "REJECTED"]
Hope this helps someone,
Daniel