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bpaf does it here, giving access to primitives like "dump names of this parser" or "dump help for this subparser": https://github.com/pacak/bpaf/blob/semantic/src/docugen.rs
The result was clap-markdown.
wolfram-app-discovery — CommandLineHelp.md
wolfram-cli — CommandLineHelp.md
Note: This project has no relation to the clap-md project, which seems to have been an earlier attempt at a tool like this.
As an alternative to trying to re-create clap's help logic (whether its help headings, sorting, etc), I've been playing with the idea for separate information collecting from rendering which would allow a lot of code to be reused between man pages, md, etc.
https://github.com/pacak/cargo-show-asm/tree/semantic - how all of this is used