Sioyek is built for documents where definitions, figures and references are consulted repeatedly. Learn its navigation model gradually and use portals to keep related material visible, instead of repeatedly leaving and rediscovering the main reading position.
Learn the basic navigation shortcuts first, then use a portal to keep a referenced figure visible beside the passage you are reading. Add searchable highlights for ideas you expect to revisit. Customize only the commands you use frequently so the reading workflow remains predictable.