Oracle 11g Release 2

By using db<>fiddle, you agree to license everything you submit by Creative Commons CC0.

with a(ID, TRANS_PROC_DT, TRANS_CD, TRANS_AMT) as (
select 165, '5/13/2020', 'Renewal', 553 from dual union all
select 165, '10/22/2020', 'Cancellation', -376 from dual union all
select 165, '11/24/2020', 'Audit', 3 from dual union all
select 165, '6/2/2021', 'Change', 0 from dual union all
select 165, '6/2/2021', 'Audit', -7 from dual union all
select 165, '6/3/2021', 'Audit', 0 from dual union all
select 497, '5/1/2020', 'Renewal', 1394 from dual union all
select 497, '1/11/2021', 'Cancellation', -578 from dual union all
select 497, '2/10/2021', 'Audit', -3 from dual union all
select 497, '4/28/2021', 'Audit', 76 from dual union all
select 497, '5/12/2021', 'Audit', -73 from dual union all
select 497, '6/2/2021', 'Change', 0 from dual union all
select 511, '4/27/2020', 'Renewal', 4409 from dual union all
select 511, '7/30/2020', 'Change', 0 from dual union all
select 511, '10/5/2020', 'Cancellation', -2558 from dual union all
select 511, '2/18/2021', 'Audit', 2806 from dual union all
select 577, '5/15/2020', 'Renewal', 829 from dual union all
select 577, '2/12/2021', 'Audit', -123 from dual union all
select 577, '4/28/2021', 'Audit', 118 from dual union all
select 577, '5/12/2021', 'Audit', 5 from dual union all
select 577, '6/2/2021', 'Change', 0 from dual union all
select 577, '6/2/2021', 'Audit', -5 from dual union all
select 577, '6/3/2021', 'Audit', 0 from dual union all
select 577, '12/4/2020', 'Renewal', 1996 from dual union all
select 577, '6/2/2021', 'Change', 0 from dual union all
select 751, '5/13/2020', 'Renewal', 1307 from dual union all
select 751, '1/28/2021', 'Cancellation', -523 from dual union all
select 751, '3/3/2021', 'Audit', 481 from dual union all
select 751, '4/28/2021', 'Audit', 120 from dual union all
select 751, '5/12/2021', 'Audit', -601 from dual union all
select 751, '6/2/2021', 'Change', 0 from dual union all
select 751, '6/2/2021', 'Audit', 601 from dual union all
select 751, '6/3/2021', 'Audit', 0 from dual union all
select 984, '5/13/2020', 'Renewal', 1081 from dual union all
select 984, '11/2/2020', 'Change', 0 from dual union all
select 984, '6/3/2021', 'Audit', 0 from dual
)
, last_dt as (
  select
    a.*
    , min(
       case trans_cd
       when 'Audit'
       then to_date(TRANS_PROC_DT, 'mm/dd/yyyy')
       end
    ) over(partition by id)
    as audit_dt
    , max(to_date(TRANS_PROC_DT, 'mm/dd/yyyy'))
      over(partition by id)
    as max_dt

from a
)
select
  id
  , trans_proc_dt
  , trans_cd
  , trans_amt
from last_dt
where max_dt = audit_dt
order by id, to_date(TRANS_PROC_DT, 'mm/dd/yyyy')

ID	TRANS_PROC_DT	TRANS_CD	TRANS_AMT
511	4/27/2020	Renewal	4409
511	7/30/2020	Change	0
511	10/5/2020	Cancellation	-2558
511	2/18/2021	Audit	2806
984	5/13/2020	Renewal	1081
984	11/2/2020	Change	0
984	6/3/2021	Audit	0