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ESDoc has been failing for a while now. The plugins that make it support ECMAScript and other stuff barely work, if at all, and the multiple "updated" packages that exist out there all have their own issues.
Thus, it makes sense to switch away from it. There's not that many alternatives that look like they'd work for us, and I think I prefer ESDoc (when it used to work for us) over all of them. However, I believe I've found a pretty good alternative that'll work - https://typedoc.org/
Full-page screenshots
Building Locally
Comment out the last line in
scripts/_vars.sh
and run./scripts/build-js.sh
. Should work.