Documentation for commands?

Is there any v5 documentation for commands? Unclear if they have changed and I do not see examples of how to use them. I only see this

Is there any way to programmatically add or change them similar to how we can modify the flyout menu? Would be helpful to be able to dynamically set some of these for a variety of reasons rather than use the manifest (plus so much simpler to document since you cannot really add comments to the manifest).

Commands haven’t changed in manifest v5. They are the same as v4.

As of now, manifest is the only way to declare/set them. They cannot be programmatically configured.

Thank you for the clarification.