Doxygen upstream appears to actually have fixed the bug [1]. Building and installing the latest master branch [2] and a small change in doxygen.cfg does the trick.
--- a/doxygen.cfg +++ b/doxygen.cfg @@ -1274,7 +1274,7 @@ LATEX_FOOTER = # contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. -PDF_HYPERLINKS = NO +PDF_HYPERLINKS = YES [1] https://github.com/doxygen/doxygen/issues/11634#issuecomment-3432075966 [2] https://github.com/doxygen/doxygen/commit/ba7ae838b88e47795783b959e2f98ef1ee29ea8e
