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So you can consider doing this type of document when you want to start a new project or doing a great effort and you need to think deeply on how to do it. To facilitate things I am going to include a template of the design doc made by @charlieBot a former engineer at Google, that you can check at the design doc template here. Using the template will make easier to start using it.
I was impressed by one idea of the book that states something like the state of documentation in 2010 was the same as testing in the 1980's, this means poor tooling and almost no worries about this topic. With the implementation of policies mentioned before there was a good improvement at Google but still there is a good improvement margin in this area. For example some new tools are appearing like Storybook for UI components is something fresh that is going to become a standard in all JavaScript projects but I could imagine this is going to happen in other types of similar projects in other languages.