I sung an arranged version of this poem as part of my high school's chorus group some time in 2001-2003. As far as I can remember, there wasn't any (or many if at all) changes to the Poem's text.
Apparently Eric Whitacre (a choral composer popular with high school choirs around 2001-2003) originally wrote Sleep to the lyrics of “Stopping by…” but was sued by Frost’s estate. He can’t release the original until 2038. https://ericwhitacre.com/music-catalog/sleep