A lot of module authors don't include any changelog or history unfortunately. Fortunately for you though, some of the most popular ones do.
Uncoincidentally, all of the ones that you posted are by TJ Holowaychuk who does a good job of updating a Changelog in a file he names History.md
.
- Express: https://github.com/visionmedia/express/blob/master/History.md
- Connect: https://github.com/senchalabs/connect/blob/master/History.md
- Stylus: https://github.com/LearnBoost/stylus/blob/master/History.md
Look for a file named something like history.md
or changelog.md
otherwise you're stuck with commit logs. I hope this helps some.