diff --git a/docs/src/Submakefile b/docs/src/Submakefile
index 911289bdd03..08e1706dc8f 100644
--- a/docs/src/Submakefile
+++ b/docs/src/Submakefile
@@ -743,7 +743,7 @@ $(foreach L,$(LANGUAGES), \
 # from docs/build/man/<lang>/manN.  cssrel is ../../../ for both: each output
 # sits at docs/build/html/<lang>/man/manN/X.html (4 levels under html/).
 define MAN_HTML_RULE
-$(DOC_OUT_HTML)/$(1)/man/%.html: $(2)/% $(DOC_SRCDIR)/docinfo.html $(DOC_SRCDIR)/docinfo-header.html
+$(DOC_OUT_HTML)/$(1)/man/%.html: $(2)/% $(DOC_SRCDIR)/docinfo.html $(DOC_SRCDIR)/docinfo-header.html | manpages
 	@$$(ECHO) Formatting $$(notdir $$<) as HTML
 	@mkdir -p $$(dir $$@)
 	$$(Q)if grep -q '^\.so' $$<; then \
@@ -771,12 +771,14 @@ $(DOC_OUT_HTML)/$(1)/man/%.html: $(2)/% $(DOC_SRCDIR)/docinfo.html $(DOC_SRCDIR)
 			-r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_hal.rb \
 			-r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_ngc.rb \
 			-r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_ini.rb \
+			-r $$(realpath $$(DOC_SRCDIR))/extensions/man_xref.rb \
 			--doctype=manpage \
 			--backend=html5 \
 			-a compat-mode \
 			-a mansource=LinuxCNC \
 			-a manmanual='LinuxCNC Documentation' \
 			-a "lcnc-cssrel=../../../" \
+			-a "manxref-root=$$(realpath $(2))" \
 			-a "lcnc-lang-label=$(LANG_LABEL_$(1))" \
 			-a "lcnc-subpath=$$(patsubst $(DOC_OUT_HTML)/$(1)/%,%,$$@)" \
 			-a docinfo=shared \
@@ -1203,6 +1205,14 @@ $(DOC_OUT_ADOC)/%.html: LCNC_CSSREL=$(shell python3 -c "print('../' * '$*'.count
 # of the output depth.  Add the +1 here, matching the $(DOC_SRCDIR) rule above.
 $(DOC_OUT_ADOC)/en/%.html: LCNC_CSSREL=$(shell python3 -c "print('../' * (1 + '$*'.count('/')))")
 
+# man_xref linkbase: relative path from this html page to its language's
+# man/man<N>/ dirs.  CSSREL points one level above the lang root (at the html
+# root, where the css lives); the man tree sits inside the lang root, so this
+# is CSSREL with one fewer "../" plus "man/".  Translated stems include the
+# lang dir; the English stem omits it, hence the extra step, mirroring CSSREL.
+$(DOC_OUT_ADOC)/%.html: MANXREF_LINKBASE=$(shell python3 -c "print('../' * ('$*'.count('/') - 1) + 'man/')")
+$(DOC_OUT_ADOC)/en/%.html: MANXREF_LINKBASE=$(shell python3 -c "print('../' * '$*'.count('/') + 'man/')")
+
 # asciidoctor HTML rule used for every language.
 #	$1 lang tag (en, de, ...)
 #	$2 source root: $(DOC_SRCDIR) for English (DOC_SRCS_EN paths have no
@@ -1214,13 +1224,16 @@ $(DOC_OUT_ADOC)/en/%.html: LCNC_CSSREL=$(shell python3 -c "print('../' * (1 + '$
 define ASCIIDOCTOR_HTML_RULE
 # Order-only dep on .adoc-images-stamp so translated images are staged before
 # the resolver probes for them at render (it also falls back to docs/src).
-$$(patsubst %.adoc,$2/%.html,$$(DOC_SRCS_$(call toUC,$1)_SMALL)): $2/%.html: $2/%.adoc $$(DOC_SRCDIR)/docinfo.html $$(DOC_SRCDIR)/docinfo-header.html | .adoc-images-stamp
+$$(patsubst %.adoc,$2/%.html,$$(DOC_SRCS_$(call toUC,$1)_SMALL)): $2/%.html: $2/%.adoc $$(DOC_SRCDIR)/docinfo.html $$(DOC_SRCDIR)/docinfo-header.html | .adoc-images-stamp manpages
 	$$(ECHO) "Building '$1' adoc to html: " $$<
 	$$(Q)asciidoctor -r $$(realpath $$(DOC_SRCDIR))/extensions/xref_resolver.rb \
 		 -r $$(realpath $$(DOC_SRCDIR))/extensions/image_resolver.rb \
 		 -r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_hal.rb \
 		 -r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_ngc.rb \
 		 -r $$(realpath $$(DOC_SRCDIR))/extensions/rouge_ini.rb \
+		 -r $$(realpath $$(DOC_SRCDIR))/extensions/man_xref.rb \
+		 -a "manxref-root=$$(realpath $$(if $$(filter en,$1),$$(DOC_MAN),$$(DOC_MAN)/$1))" \
+		 -a "manxref-linkbase=$$(MANXREF_LINKBASE)" \
 		 -a compat-mode \
 		 -a "doc-languages=$$(LANGUAGES)" \
 		 -a "lcnc-lang=$1" \
diff --git a/docs/src/drivers/hostmot2.adoc b/docs/src/drivers/hostmot2.adoc
index e18613f62de..454c17dbba1 100644
--- a/docs/src/drivers/hostmot2.adoc
+++ b/docs/src/drivers/hostmot2.adoc
@@ -521,7 +521,7 @@ Each StepGen instance has the following pins and parameters:
   position = counts / position_scale
 
 * 'step_type' - (u32, RW) Output format, like the step_type modparam to
-  the software stegen(9) component.
+  the software stepgen(9) component.
   0 = Step/Dir, 1 = Up/Down, 2 = Quadrature. In
   Quadrature mode (step_type=2), the stepgen outputs one complete Gray
   cycle (00 \-> 01 \-> 11 \-> 10 \-> 00) for each 'step' it takes.
diff --git a/docs/src/extensions/man_xref.rb b/docs/src/extensions/man_xref.rb
new file mode 100644
index 00000000000..86389ef2365
--- /dev/null
+++ b/docs/src/extensions/man_xref.rb
@@ -0,0 +1,125 @@
+# docs/src/extensions/man_xref.rb
+#
+# Asciidoctor postprocessor that turns manpage cross-references in the
+# conventional name(section) form (e.g. "halcmd(1)") into clickable links to
+# the sibling HTML page ../man<section>/<name>.<section>.html.
+#
+#   * Index-gated: a token is linked only when a page <name>.<section> exists
+#     in the troff tree, so false positives never resolve and stay plain text
+#     ("feed(2)"/"arc(3)" enum values in motion(9); external open(2)/udev(8);
+#     typo'd or renamed API names).
+#   * Never links a page to itself.
+#   * Skips text inside <a> <code> <pre> <script> <style> <head> <title> <h1>,
+#     so code samples, tag attributes and existing links are left untouched.
+#   * Case-insensitive match ("AXIS(1)" => axis.1); visible text kept verbatim.
+#
+# Used for both the HTML manpages (sibling links under man/) and the narrative
+# manuals (User/HAL/Integrator), which reference man pages in the same
+# name(section) form and now link across into ../man/man<N>/.
+#
+# manxref-root (passed from the Submakefile) points at the troff man tree
+# docs/build/man[/<lang>], whose man<N>/ dirs enumerate every page including
+# generated component pages and .so stubs.  Absent => no-op, safe to always load.
+# manxref-linkbase is the relative path from the page to those man<N>/ dirs
+# (default "../" for a sibling manpage; narrative pages pass their own depth).
+
+require 'asciidoctor'
+require 'asciidoctor/extensions'
+
+module LinuxCNCDocs
+  class ManXref < Asciidoctor::Extensions::Postprocessor
+    # Manpage sections LinuxCNC ships and cross-references between.
+    SECTIONS = %w[1 3 9].freeze
+
+    # Elements whose text content must never be rewritten.
+    PROTECTED = %w[a code pre script style head title h1].freeze
+
+    # One  name(section)  token.  Name starts with a letter/underscore so
+    # version-like "3.5(1)" never matches; the section is a single digit.
+    TOKEN = /\b([A-Za-z_][A-Za-z0-9_.\-]*)\((\d)\)/.freeze
+
+    # Cache the per-root index across the many pages of one asciidoctor run.
+    @index_cache = {}
+    class << self; attr_reader :index_cache; end
+
+    # Build  "name-downcased\tsection" => "man<N>/<name>.html"  from the
+    # troff man tree.  Filenames are the authoritative existence list.
+    def self.build_index(root)
+      key = File.expand_path(root)
+      cached = index_cache[key]
+      return cached if cached
+
+      idx = {}
+      SECTIONS.each do |sec|
+        dir = File.join(root, "man#{sec}")
+        next unless File.directory?(dir)
+        suffix = ".#{sec}"
+        Dir.foreach(dir) do |fn|
+          next unless fn.end_with?(suffix)
+          name = fn[0...-suffix.length]
+          next if name.empty?
+          # Rendered HTML keeps the section in the filename: the troff page
+          # man<N>/<name>.<N> becomes man<N>/<name>.<N>.html.
+          idx["#{name.downcase}\t#{sec}"] = "man#{sec}/#{fn}.html"
+        end
+      end
+      index_cache[key] = idx
+    end
+
+    # Split HTML into an alternating stream of text runs and tags, tracking a
+    # stack of PROTECTED elements; yield only text runs that are safe to edit.
+    def self.each_editable_text(html)
+      depth = 0
+      pos = 0
+      out = +''
+      html.scan(/([^<]+)|(<[^>]*>)/) do
+        text, tag = Regexp.last_match(1), Regexp.last_match(2)
+        if text
+          out << (depth.zero? ? yield(text) : text)
+        else
+          out << tag
+          m = /\A<\s*(\/?)\s*([A-Za-z][A-Za-z0-9]*)/.match(tag)
+          if m && PROTECTED.include?(m[2].downcase) && !tag.end_with?('/>')
+            depth += (m[1] == '/' ? -1 : 1)
+            depth = 0 if depth < 0
+          end
+        end
+        pos += 1
+      end
+      out
+    end
+
+    def process(document, output)
+      root = document.attr('manxref-root')
+      return output if root.nil? || root.empty?
+
+      idx = self.class.build_index(root)
+      return output if idx.empty?
+
+      self_name = (document.attr('mantitle') || '').downcase
+      self_vol  = (document.attr('manvolnum') || '').to_s
+
+      # Relative path from this page to the man<N>/ dirs.  Manpages sit beside
+      # each other under man/, so the default reaches a sibling section dir;
+      # narrative pages pass their own depth-adjusted base (../man/, ../../man/).
+      base = document.attr('manxref-linkbase')
+      base = '../' if base.nil? || base.empty?
+
+      self.class.each_editable_text(output) do |text|
+        text.gsub(TOKEN) do
+          whole = Regexp.last_match(0)
+          name  = Regexp.last_match(1)
+          sec   = Regexp.last_match(2)
+          # Never link a page to itself.
+          next whole if name.downcase == self_name && sec == self_vol
+          href = idx["#{name.downcase}\t#{sec}"]
+          href ? %(<a class="man-xref" href="#{base}#{href}">#{whole}</a>) : whole
+        end
+      end
+    end
+  end
+end
+
+Asciidoctor::Extensions.register do
+  postprocessor LinuxCNCDocs::ManXref
+end
diff --git a/docs/src/man/man1/hal_manualtoolchange.1.adoc b/docs/src/man/man1/hal_manualtoolchange.1.adoc
index bc983e32c54..9a1df091b65 100644
--- a/docs/src/man/man1/hal_manualtoolchange.1.adoc
+++ b/docs/src/man/man1/hal_manualtoolchange.1.adoc
@@ -89,4 +89,4 @@ net tool-changed-btn hal_manualtoolchange.change_button <= parport.0.pin-15-in
 
 == SEE ALSO
 
-motion(1), iocontrol(1), halcmd(1).
+motion(9), iocontrol(1), halcmd(1).
diff --git a/docs/src/man/man3/hal_add_funct_to_thread.3.adoc b/docs/src/man/man3/hal_add_funct_to_thread.3.adoc
index 5b973e035a7..f80610acdd4 100644
--- a/docs/src/man/man3/hal_add_funct_to_thread.3.adoc
+++ b/docs/src/man/man3/hal_add_funct_to_thread.3.adoc
@@ -46,4 +46,4 @@ Call only from realtime init code, not from other realtime or non-realtime code.
 
 == SEE ALSO
 
-hal_thread_new(3), hal_export_funct(3)
+hal_create_thread(3), hal_export_funct(3)