GUIs for decades have demonstrated practical ways of making commands discoverable and also teaching users the keyboard shortcuts. All without having to ask people to RTFM. It is a pity that so many TUI apps haven't learnt the same lessons.
There is a reason why Nano became such a popular default editor for email. The shortcuts are printed at the bottom of the screen(!)
I hope more TUI apps pick up on the idea of the command palette though. It is a fast and keyboard friendly way of improving usability.