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There's an open PR for this: https://github.com/neovim/neovim/pull/14122 it isn't finished yet, but I used https://github.com/theHamsta/neovim/blob/33de6be20b21a250a9374d25bd0fb9e6cb288664/runtime/lua/vim/lsp/semantic_tokens.lua#L113 as a starting point and it works quite well with the latest clangd main branch (clangd-14). Let me know if you need any help with setting this up (or you can wait for the PR to be finished of course).
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clangd-nvim
Discontinued Neovim plugin for semantic highlighting in C++ based on Neovim's build-in LSP support. Mirror of https://gitlab.com/robert-oleynik/clangd-nvim/
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vim-lsp-cxx-highlight
Discontinued Vim plugin for C/C++/ObjC semantic highlighting using cquery, ccls, or clangd
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