I tend to read man pages in Emacs, which comes with a 'man' command (invoking that executable) and a 'woman' command (an alternative implemented entirely within Emacs), which both implement a basic amount of hyperlinking in their display. For example, I just tried it with the 'rg' manual (first suggestion when I ran `man`), which says:

> Like other tools such as ls, ripgrep will alter its output

That `ls` is marked-up, so pressing RET on it will open the manual for the `ls` command; which includes:

> FORMAT is interpreted like in date(1).

Again, that `date` is marked up, so pressing RET on it `date` will open the manual for the `date` command; etc.

It's obviously just going on heuristics though; e.g. the `ls` manual has marked-up the `--sort` option, and if I hit RET on that it takes me to the manual for the `sort` command ;-)