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Consolidate YAML API documentation in doxygen #1548
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[docs] Use Doxygen format consistently
There are differences in output between Doxygen 1.9.1 and 1.9.7, where the former uses the top-level header as the @page title automatically. For newer Doxygen versions, those links are broken. Also, a space in code fencing does not work in newer Doxygen.
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