diff --git a/base_conf.py b/base_conf.py
index 536b1cf3ad..9cd82d0526 100644
--- a/base_conf.py
+++ b/base_conf.py
@@ -40,9 +40,9 @@
 
 templates_path = ["_templates"]
 
-source_suffix = [
-    ".md",
-]
+source_suffix = {
+    ".md": "markdown"
+}
 
 myst_heading_anchors = 4
 
diff --git a/build_multiversion.py b/build_multiversion.py
index 583b9630fb..294160086a 100644
--- a/build_multiversion.py
+++ b/build_multiversion.py
@@ -35,6 +35,31 @@ def _combine_nav(common_nav, release_nav):
         combined.insert(i + 1, item)
     return combined
 
+def _build_sphinx(src_dir, output_dir, variables, extra_args, strict_mode=True):
+    """Build arguments for running sphinx-build
+
+    Args:
+        src_dir (str): Source directory
+        output_dir (str): Output directory
+        variables (dict): Dictionary of variables passed with `-D`
+        extra_args (list): Extra arguments forwarded to sphinx
+    """
+    sphinx_args = [
+        "sphinx-build",
+        "--nitpicky",
+        "-b",
+        "dirhtml"]
+    if strict_mode:
+        sphinx_args.append("--fail-on-warning")
+
+    sphinx_args.extend([str(src_dir), str(output_dir)])
+
+    for key, val in variables.items():
+        sphinx_args.extend(["-D", f"{key}={val}"])
+
+    sphinx_args.extend(extra_args)
+
+    subprocess.run(sphinx_args, check=True)
 
 def copy_pages(pages, root_src_dir, dst):
     for page in pages:
@@ -331,14 +356,9 @@ def build_libs(gz_nav_yaml, src_dir, tmp_dir, build_dir):
 
     generate_libs(gz_nav_yaml, libs_dir)
 
-    sphinx_args = [
-        "sphinx-build",
-        "-b",
-        "dirhtml",
-        f"{libs_dir}",
-        f"{build_dir}",
-    ]
-    subprocess.run(sphinx_args)
+    # TODO(azeey) There are a few reference errors in the README files of some
+    # of the libraries, so we can't enable strict_mode yet.
+    _build_sphinx(libs_dir, build_dir, {}, [], strict_mode=False)
 
 
 def main(argv=None):
@@ -396,19 +416,12 @@ def main(argv=None):
     for release in args.releases:
         generate_sources(gz_nav_yaml, src_dir, tmp_dir, release)
         release_build_dir = build_docs_dir / release
-        sphinx_args = [
-            "sphinx-build",
-            "-b",
-            "dirhtml",
-            f"{tmp_dir/release}",
-            f"{release_build_dir }",
-            "-D",
-            f"gz_release={release}",
-            "-D",
-            f"gz_root_index_file={index_yaml}",
-            *unknown_args,
-        ]
-        subprocess.run(sphinx_args)
+        _build_sphinx(
+            tmp_dir / release,
+            release_build_dir,
+            {"gz_release": release, "gz_root_index_file": index_yaml},
+            unknown_args,
+        )
 
     # Handle "latest" and "all"
     release = preferred_release["name"]
@@ -425,19 +438,12 @@ def main(argv=None):
                         f"{pointer_tmp_dir} already exists and is not a symlink"
                     )
 
-            sphinx_args = [
-                "sphinx-build",
-                "-b",
-                "dirhtml",
-                f"{pointer_tmp_dir}",
-                f"{release_build_dir}",
-                "-D",
-                f"gz_release={release}",
-                "-D",
-                f"gz_root_index_file={index_yaml}",
-                *unknown_args,
-            ]
-            subprocess.run(sphinx_args)
+            _build_sphinx(
+                pointer_tmp_dir,
+                release_build_dir,
+                {"gz_release": release, "gz_root_index_file": index_yaml},
+                unknown_args,
+            )
 
         # Create a redirect to "/latest"
         redirect_page = build_docs_dir / "index.html"
diff --git a/conf.py b/conf.py
index fd39723e2a..0a25c1f057 100644
--- a/conf.py
+++ b/conf.py
@@ -27,6 +27,7 @@
 
 from sphinx.application import Sphinx
 from sphinx.config import Config
+from pygments.lexers.shell import BatchLexer
 
 
 sys.path.append(str(Path(__file__).parent))
@@ -130,3 +131,4 @@ def setup(app: Sphinx):
     app.add_config_value("gz_root_index_file", "", rebuild="env", types=[str])
     app.connect("html-page-context", setup_file_map)
     app.connect("config-inited", config_init)
+    app.add_lexer("cmd", BatchLexer)
diff --git a/fortress/index.yaml b/fortress/index.yaml
index 7cd7567852..28c445c85e 100644
--- a/fortress/index.yaml
+++ b/fortress/index.yaml
@@ -96,3 +96,6 @@ pages:
       - name: ros_gz_project_template_guide
         title: ROS 2 integration template
         file: ros_gz_project_template_guide.md
+      - name: web_visualization
+        title: Web Visualization
+        file: web_visualization.md
diff --git a/garden/index.yaml b/garden/index.yaml
index 820dd8b6a6..e0301c980f 100644
--- a/garden/index.yaml
+++ b/garden/index.yaml
@@ -94,3 +94,6 @@ pages:
       - name: ros_gz_project_template_guide
         title: ROS 2 integration template
         file: ros_gz_project_template_guide.md
+      - name: web_visualization
+        title: Web Visualization
+        file: web_visualization.md
diff --git a/harmonic/index.yaml b/harmonic/index.yaml
index 0ebfd3acb9..604c59f1e1 100644
--- a/harmonic/index.yaml
+++ b/harmonic/index.yaml
@@ -106,3 +106,6 @@ pages:
       - name: ros_gz_project_template_guide
         title: ROS 2 integration template
         file: ros_gz_project_template_guide.md
+      - name: web_visualization
+        title: Web Visualization
+        file: web_visualization.md
diff --git a/ionic/index.yaml b/ionic/index.yaml
index ef05c75cc7..b79b17f82f 100644
--- a/ionic/index.yaml
+++ b/ionic/index.yaml
@@ -106,3 +106,6 @@ pages:
       - name: ros_gz_project_template_guide
         title: ROS 2 integration template
         file: ros_gz_project_template_guide.md
+      - name: web_visualization
+        title: Web Visualization
+        file: web_visualization.md
diff --git a/jetty/index.yaml b/jetty/index.yaml
index b68921be90..f7ff342e13 100644
--- a/jetty/index.yaml
+++ b/jetty/index.yaml
@@ -109,3 +109,6 @@ pages:
       - name: ros_gz_project_template_guide
         title: ROS 2 integration template
         file: ros_gz_project_template_guide.md
+      - name: web_visualization
+        title: Web Visualization
+        file: web_visualization.md