1) 1977: original text and starfield, also used on Empire of Dreams and 2006 DVD;
2) 1981: new text and starfield, (probably) also used on all pre-SE home video versions;
3) 1997: 1981 text digitally composited onto 1977 starfield, also used on 2004 DVD.
I think the '06 DVD crawl is the original. I also think that although the PT crawls are generated, the SE crawls used existing optical elements. I think SE-OOT is a little harsh. But if there is an issue with the theatrical authenticity of the '06 DVD, it is with the mix and color correction, both of which date from 1993.