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ripgrep
ripgrep recursively searches directories for a regex pattern while respecting your gitignore
If anyone would be interested in checking it out, here are the links: crates.io docs.rs github
You do still need to turn it into roff somehow. I've had good results using help2man to transform clap's --help output, though it wasn't plug-and-play: specialized help template, extra bit of handwritten roff, help2man invocation. (Not all of that is necessary for simpler cases.)
ripgrep uses asciidoctor (build script, template, clap config) but it seems even more involved, there's a custom layer over clap to make it introspectable and custom logic to format the arguments as asciidoc.