03.04.01 Baseline Configuration
What the standard requires
a. Develop and maintain under configuration control, a current baseline configuration of the system. b. Review and update the baseline configuration of the system [frequency] and when system components are installed or modified.
Quoted verbatim from NIST SP 800-171 Rev 3, which is in the public domain.
Cross-framework mappings
No cross-framework mapping is seeded for this control. That is stated rather than filled in: a mapping nobody authored is worse than a gap you can see.
Track 03.04.01 with evidence behind it
In CMDash this control is a row with an owner, a status, uploaded evidence kept with its full history, and an export an assessor can read.