One of the reasons such a tool does not exist is because the documentation of a RESTful API should NOT include any of these items:
- Specify URLs/URIs format/structure
- Request/Response formats and methods (GET/POST/etc, XML/JSON/etc)
- Categorize endpoints/API Calls (such as grouping several calls under Authentication)
RESTful API documentation is about documenting media types used and their associated application semantics. You should be looking to produce something that looks more like this.
The examples you have given are HTTP based RPC APIs which is why they require this type of endpoint documentation. They are RESTful in name only. Now, why people are not creating tools to automatically document HTTP based RPC APIs, I can't really tell you. Maybe it is because the people who are writing those APIs are so busy maintaining them that they don't have time to writing documentation tooling!
