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I would start by cloning the official javadoc into a new, more user-friendly documentation engine (https://pmarsceill.github.io/just-the-docs/) and then start to update things as possible (i.e. going through and adding descriptions, code samples, and the like).
A reference that hasn't been mentioned thus far that is incredibly useful is Extracted-RC from OpenFTC. https://github.com/OpenFTC/Extracted-RC
You can check the gm0 software issues and there is a lot of software documentation that is planned (check the software tags). https://github.com/gamemanual0/gm0/issues