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They use a combination of linenoise and argtable3,
Mine: https://github.com/FARLY7/embedded-cli
Haven't used this exact library myself but I use a bunch of libs from this guy for my STM projects since he's an ST employee and releases a lot of good library's for their platforms. I'm assuming this would be up your alley: https://github.com/MaJerle/lwshell