We have decided that the best place for the "single source of truth" for that is right next to the appropriate code in git, with the various build/deployment scripts ensuring that copies (explicitly unmaintained, unmaintainable, read-only) of that get packaged with the actual systems, with the packaged libraries, linked in their web backends, etc. We don't care much about the format of the document, whatever fits the particular needs best - e.g. sometimes it's markdown, sometimes it's Excel.
The key factor here is to ensure that (a) there's a single source of truth; (b) you can have the same atomic commit/pullrequest/whatever altering both the system and the documentation at the same time; (c) every artifact has the appropriate version of the documentation, instead of going to some internal site or document which might have a different, newer version, you know what is supposed to be true for this release which actually is on this particular server.