Native to Ansible, you can use its built in logging of tasks to syslog, and callback plugins that can send to a variety of destinations. Including custom plugins, which is how the addon ARA records Ansible history.
Remote systems do not always exec ansible-playbook. Module code is copied, for Python modules with Ansiballz. Only temporary files or stdin pipes are executed.
Edit: note that non-Python Ansible modules are technically possible but rare. Watching python execs won't catch the dedicated Ansible user who made Perl or Go modules.
Linux auditd is limited in that the exe you can filter on is the interpreter binary (python) and not the script (ansible-playbook). Filter to the system python and you see all the python scripts on the system run. Have an Ansible specific python (virtualenv) and still nothing prevents other things (ansible-inventory) from using this python.
You can filter audit events to a specific user, useful if you only ever run plays as that user.
Edit: auditd is good at tracking privilege escalation in general. If this is something you want to closely track, have a look at the example rules in the audit-userspace source code. For example, the pci-dss "All elevation of privileges is logged" rule.