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I think (though I can’t find a reference) that Knuth hoped that some of the algorithms developed for TeX, such as the hyphenation and line breaking algorithms, would catch on and be used by other, non-TeX typesetting software. If that has ever happened, I a unaware of any examples. That’s a pity.

I don’t have an opinion about whether they’re better or worse, but have you tried groff or heirloom troff?

How is Quarto? It uses Pandoc Markdown.

There was a discussion about that last year [1]

[1] https://news.ycombinator.com/item?id=30042831