RPE 1.3 and above is capable of generating configuration-aware document from CLM environment with Configuration enabled.
My colleagues Sunil and Dragos have put a video that explains document generation from RPE desktop client and RPE Web document builder.
Find documentation related to configuration-aware below.
Generate configuration-aware document using RPE desktop client as in the below video.
Generate configuration-aware document using RPE Web document builder as in the below video.