“Vor langer Zeit in einer Galaxis weit, weit entfernt…” was only used in ROTJ.
“Es war einmal vor langer Zeit in einer weit, weit entfernten Galaxis…” was used in SW and TESB.
This is true for the theatrical versions (that’s why the Despecialized Editions have these title cards). I don’t know if the SE, DVD, Blu-ray released changed these lines.