If you are familiar with building aware plug-ins then you can write a class to pull out details from the bsv.
We currently do this for an online Data Dictionary, the data is populated into predefined objects for the BO and Attributes, its fairly detailed.
Also we pull out the Services information to document our API again these are output to predefined objects although ideally you would want this in a swagger format, it's one option to self document the API's available in your bsv.
There was well documented API information for aware but this stopped a number of releases ago, I have asked for an update but its no longer possible.
Using this approach you could output into a format or data structure you need to self document each time an update is applied at a customer site, if just replies on ensuring the the description on each object and attribute are available.