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Best tools for generating REST API documentation?

Do you mean generating like an open API spec from source code or generating user-friendly reference docs (like this https://docs.bsky.app/docs/api/app-bsky-actor-get-profiles ) from the API spec?

For generating user-friendly docs from openapi spec, I always use Docusaurus and customize it heavily with their Doc generator plugin, a very great example of how to do this can be found here

For generating user-friendly docs from openapi spec, I always use Docusaurus and customize it heavily with their Doc generator plugin, a very great example of how to do this can be found here  https://github.com/bluesky-social/bsky-docs

As for generating the openapi spec itself, the easiest way is to annotate/decorate your code and then run a CLI tool to generate the spec, or you can manually write the spec.