Author here. I just learned about esdoc this morning; thanks for mentioning it! But it doesn't appear to be much of an improvement over JSDoc for my purposes, as you still get little control over the organization of your content. It is alphabetical reference docs plus a few predefined bolt-on pages (https://esdoc.org/#integration-manual):

    Overview
    Design
    Installation
    Usage
    Tutorial
    Configuration
    Example
    Advanced
    FAQ
    Changelog

You can't add more. And, as far as I can tell (the documentation I can find is silent on the point), those pages are islands, with no ability to call content out of the code. (I'd love to be shown wrong. Did you find otherwise?) However, I do applaud esdoc's better support for more modern JS features!