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feat(xtask): add `xtask doc` #3214

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Job	Run time
Doc	41s
Format	15s
Build	30s
Check	53s
Clippy	28s
Run (x86_64, dev)	50s
Run (x86_64, release)	51s
Run (x86_64, kvm)	35s
Test	50s
Run (aarch64, dev)	52s
Run (aarch64, release)	49s
Run (riscv64, dev)	52s
Run (riscv64, release)	52s
	9m 18s