Templates
A template is the blueprint — the set of fields or questions someone fills in. Templates don't hold data themselves.
Forms
A form is usually a one-off record created by filling in a form template.
Audits
An audit is a more structured record, often scored and scheduled to repeat, created by filling in an audit template.
In short: templates define the questions, forms and audits are the answers, and audits add scoring and scheduling on top.
Walkthrough video
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