Is there any documentation for udev builtins?

If you just run udevadm test-builtin without arguments it'll list the builtin commands along with a short description for each of them:

udevadm test-builtin --help

calling: test-builtin
udevadm test-builtin [OPTIONS] COMMAND DEVPATH

Test a built-in command.

  -h --help     Print this message
  -V --version  Print version of the program

Commands:
  blkid           Filesystem and partition probing
  btrfs           btrfs volume management
  hwdb            Hardware database
  input_id        Input device properties
  keyboard        Keyboard scan code to key mapping
  kmod            Kernel module loader
  net_id          Network device properties
  net_setup_link  Configure network link
  path_id         Compose persistent device path
  usb_id          USB device properties
  uaccess         Manage device node user ACL

Unfortunately, as you've noticed, builtins usage is only explained briefly in the manual.
A practical example can be found in the file 50-udev-default.rules available on your system (under /lib/udev/rules.d/) which contains stuff like:

SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", IMPORT{builtin}="usb_id", IMPORT{builtin}="hwdb --subsystem=usb"
SUBSYSTEM=="input", ENV{ID_INPUT}=="", IMPORT{builtin}="input_id"
ENV{MODALIAS}!="", IMPORT{builtin}="hwdb --subsystem=$env{SUBSYSTEM}"

Unfortunately, this information is missing on manpages and even knowing how to read them(see below) you will find trouble on trying to find that info.

However, the beauty of the opensource relies on having the power to read the sources. If you take a look at the udev-builtin.c source file inside systemd/udev repository and have basic C language knowledge, you will find the following snippet of code: A structure that maps all existing builtin types.

static const struct udev_builtin *builtins[_UDEV_BUILTIN_MAX] = {
#if HAVE_BLKID
        [UDEV_BUILTIN_BLKID] = &udev_builtin_blkid,
#endif
        [UDEV_BUILTIN_BTRFS] = &udev_builtin_btrfs,
        [UDEV_BUILTIN_HWDB] = &udev_builtin_hwdb,
        [UDEV_BUILTIN_INPUT_ID] = &udev_builtin_input_id,
        [UDEV_BUILTIN_KEYBOARD] = &udev_builtin_keyboard,
#if HAVE_KMOD
        [UDEV_BUILTIN_KMOD] = &udev_builtin_kmod,
#endif
        [UDEV_BUILTIN_NET_ID] = &udev_builtin_net_id,
        [UDEV_BUILTIN_NET_LINK] = &udev_builtin_net_setup_link,
        [UDEV_BUILTIN_PATH_ID] = &udev_builtin_path_id,
        [UDEV_BUILTIN_USB_ID] = &udev_builtin_usb_id,
#if HAVE_ACL
        [UDEV_BUILTIN_UACCESS] = &udev_builtin_uaccess,
#endif
};

This struct holds all built-in types, and they map source files depending on what type it is. Example:

• udev-builtin-kmod.c - A Kernel Module loader.
• udev-builtin-keyboard.c - A keyboard handler.
• udev-builtin-usb_id.c - A USB handler that will set the usb type and initialize the device.

Related:

• How do I use man pages to learn how to use commands?