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At a cost of worse design, I am extremely satisfied with mdbook. For an example, check The Rust Book.

What do you mean by design? I run a customized version of mdbook to render https://docs.hyperdeck.io

I’m fairly happy with mdbook (although it took some time to get the customizations work correctly)

On a side note, HyperDeck looks great! Is this open-source?

Thanks! It is not open source right now. I’ve been thinking about that, but initially it will probably be commercial, and then I’ll see.