Best way to read ruby docs at command line?

I have been sort of flummoxed by this for a number of years, though for the most part I gave up trying to understand and just started using the yard web server. But... does there exist a modern "best-practices" way of reading ruby docs at the command line these days? In Pry? I've played around with ri and show-doc (in pry) - neither of them seem to work very well. Am I missing something?