If you're still searching, we built an open source tool at my company for this since we also couldn't find an existing tool out there.

You can check out https://www.npmjs.com/package/@svengroup/openapi-to-pdf

It doesn't make it into word but you can customize the markdown content and PDF formatting so you can add custom sections, etc.

It includes a table of contents section, cover page and more.

Let us know what you think!