> I do use git tags but I also include version numbers in my commit messages so that I can easily determine in which version a given commit was published.

If we look at a commit on github, I'll see all tags that contain that commit:

https://i.imgur.com/KTkz2K1.png

So I know this commit was created before the 3.3.0 tag (and all later tags).

You can do the same thing at the command line with:

    git tag --contains 009bdeedbc

which would display the same information.