Thanks, Ross. This worked. Here is the modified command
gam config auto_batch_min 1 csv_output_no_escape_char true redirect csv $permissions multiprocess report drive filter "visibility==people_with_link,new_value==people_with_link,primary_event==true" events change_document_visibility,change_document_visibility_hierarchy_reconciled start -1d
As a follow-up, this command also returns shared drive events. Is there a way I can run a few commands to get document metadata including permissions for all doc_ids that are in shared drives? I understand we need owners information for shared drives, but just looking at a series of commands that can help get the information.