I've made a lightweight glossary #rstats package for quarto and R Markdown documents. You just tag words in your text like r glossary("term") and create a glossary table at the end of the section with glossary_table(). The definitions can be set in each glossary() function, or pulled from a YAML file.
I'm hoping to submit to CRAN soon, but would love if anyone had time for a quick test and feedback.