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feat(xtask): add `xtask doc` #3213

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Run time

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Job	Run time
Clippy	21s
Build	29s
Doc	54s
Format	18s
Check	54s
Run (x86_64, dev)	59s
Test	53s
Run (x86_64, release)	59s
Run (x86_64, kvm)	37s
Run (aarch64, dev)	54s
Run (aarch64, release)	52s
Run (riscv64, dev)	53s
Run (riscv64, release)	55s
	9m 58s