Try doxysphinx #1478
Description
Provide a description of requested documentation changes.
The doxysphinx package (https://boschglobal.github.io/doxysphinx/index.html) works by including the doxygen generated html files directly into sphinx files.
This does not look as nice as our current solution and some features (e.g. adding the corresponding namespaces to our model pages) would get lost. On the other hand, this would be directly doxygen and the issues with exhale/breath not being able to parse some of our functions would be resolved. Additionally, generating the documentation is much more faster.
In conclusion, I suggest trying it out on readthedocs and, if it works, discussing whether to switch or not.