The author actually agrees with this take, and even links to this post making it explicit: https://intercoolerjs.org/2016/05/08/hatoeas-is-for-humans.html

No, it doesn't mean only humans can interact with it.

The key point [of classical REST] is that responses are self-contained self-describing. Requesting a resource response tells you what actions you can take on it. There is no need for application domain knowledge, implicitly or separately-explicitly shared knowledge.

Some HTTP web apis offer links in their JSON responses for example. Like previous and next page/ref on paging/sectioning/cursor. Or links to other resources. I don't think I've ever seen possible resource actions/operations be included though. Which is what the original REST would demand.

That's how I understood it anyway.

Their suggestion of using HTML rather than JSON is mainly driven by their htmx approach, which the project and website is about. Throughout this article though, they always leave open which data form is actually used. In your quoted text they say "for example". In a later example, they show how JSON with hyperlinks could look like. (But then you need knowledge about that generalized meta structure.)

It feels like he’s trying to say something like Swagger should always be required. One of the things about SOAP for example was that it always had a self-generating WSDL that you could consume to get everything. There were quite a few REST endpoints that were missing this when first developed.

But I do agree that “forms” and “html” are quite the opposite of an API.