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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
It's also possible to write unit tests in order to better understand or surface your assumptions about a legacy application. I'd also consider running rubycritic against legacy code, to see where the code smells and other hot spots lie.
If you're looking to generate docs from source, there's always the yard gem. If you want a diagram of your Rails models you might try railroady. Neither will create comments in your code, which is what I understand mintlify.com is doing for you.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.