This is quite a simple task if you're familiar with GAS (Google Apps Script), the code below is only a part of what's required (event.getLastUpdated is the trick) but it gives an idea of how to accomplish what you require. I also have this requirement & it works fine for me...
Set up a spreadsheet with the calendar details, & post your calendar info to it ...
function getCalendars()
{
var cal = CalendarApp.getCalendarsByName(calName)[0]; // loop here with all your Calenders
var events = cal.getEvents( date1, date2 ); // start date & end date
for (var x in events )
{
var event = events[x];
var title = event.getTitle();
var created = event.getDateCreated();
var lastMod = event.getLastUpdated();
var lastRead = getLastModifiedFromSpreadSheet();
var diff= daysDiff(lastMod, read);
if (diff > 0) {putNewDateInSpreadsheet(); doYourStuff;)
}
}
function daysDiff(a, b) { // change to hours or minutes if required
var oneDay = 1000 * 60 * 60 * 24;
return Math.floor(b.getTime() / oneDay) - Math.floor(a.getTime() / oneDay);
}