I don't disagree with your assessment of HL7 historically, but FHIR documentation is outstanding:
https://www.hl7.org/fhir/resourcelist.html
Documents both the REST API and JSON and XML formats for every type of resource, with lots of examples, and sufficient detail for anyone to create a compliant implementation. Documentation for all of the datatypes like dates and times, terminologies, identifiers, references, numeric values, and how to serialize and parse them. Cross links everywhere.
It's legitimately one of the best documented and well thought out APIs I have worked with. I think they took all the mistakes made and legacy baggage of the old HL7 specs to heart, and did a great job of replacing them with something much better with very high quality documentation.