I've used a small bash function. example : to search grep's manual for "lines", I type gm grep "lines"

gm () { man $1 | col -b | grep --color=always "$2" }

I also have something similar for grepping a command's help

gh () { $1 --help | grep --color=always $2 }

I usually try gh(grep help) and if I don't get what I'm looking for, I run gm(grep man).

It appears that I can also use tldr