From what I have seen creating up to date documents is considered superfluous. There are tons of excuses for why people are not updating the documents. Raising a PR for small changes is one of those excuses.
Any tool you find will have it's own version control restrictions. People will use that as a crutch to say - Well, the tool x has steps a, b, c which is too much of hassle for a minor change.
This cannot be solved by using better tools or solutions.
To give examples from my experience:
One of the places where I saw the best documentation was at a bank. Every project came with specific amount of time dedicated to updating documentation. This ensured people don't complain about not having time or the process being tedious etc.
Though as there was no time allocated for peer review of document control - It did not stop people from being lazy or creating dependencies by knowingly adding generic information in the document.
In worst of places, a software product company - documentation was looked down upon. Everyone was more than happy to "set up time to discuss" than put actual effort in good documentation. As I joined after the aforementioned bank, I had a habit of abhorring meetings and creating up to date document which was shared with the team.
The end result was that people still wanted to have meetings. On being told, I shared document with relevant info with them, they used act surprised and ask to share the document again.