So the question is, can i help contribute to the documentation?
Of course! You can help improving the content of the documentation with the links the others provided. But if you have problems with the
layout of the documentation you need to come up with concrete improvements using the
existing tools (with possible improvements) and the
existing data.
Imo there is a new "documentation 2.0" necessary respectively, i would start from scratch.
There definitely won't be a start from scratch, cause the content of the documentation is correct if maybe lacking. But it's a work in progress and as said above everyone can help make it better.