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I recently wrote an interactive (ncurses) manual page viewer with hyperlink and history support. I've been building and using it for a few months now, and it seems quite stable.
From the project's README.md:
Linux manual pages are lovely. They are concise, well-written, complete, and downright useful. However, the standard way of accessing them from the command-line hasn't changed since the early days. Qman aims to change that. It's a modern, full-featured manual page viewer featuring hyperlinks, web browser like navigation, incremental search, on-line help, and more. It also strives to be fast and tiny, so that it can be used everywhere. For this reason, it's been written in plain C and has only minimal dependencies.
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