diff --git a/doc/conf.py b/doc/conf.py
index 7c51f2309288..954423aaf468 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -45,6 +45,7 @@
     'sphinxext.custom_roles',
     'sphinxext.github',
     'sphinxext.math_symbol_table',
+    'sphinxext.missing_references',
     'sphinxext.mock_gui_toolkits',
     'sphinxext.skip_deprecated',
     'sphinx_copybutton',
@@ -99,6 +100,8 @@ def _check_dependencies():
 else:
     autodoc_default_options = {'members': None, 'undoc-members': None}
 
+nitpicky = True
+
 intersphinx_mapping = {
     'python': ('https://docs.python.org/3', None),
     'numpy': ('https://docs.scipy.org/doc/numpy/', None),
diff --git a/doc/missing-references.json b/doc/missing-references.json
new file mode 100644
index 000000000000..de3ff941fabf
--- /dev/null
+++ b/doc/missing-references.json
@@ -0,0 +1,5369 @@
+{
+  "py:obj": {
+    "MovieWriterBase": [
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.AVConvBase:4",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FFMpegBase:4",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.ImageMagickBase:4"
+    ],
+    "matplotlib.animation.AVConvBase.output_args": [
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.AVConvBase.args_key:1:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.bin_path": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.cleanup": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.finish": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.grab_frame": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.isAvailable": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.saving": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.setup": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.args_key": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:38:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.exec_key": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:38:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.frame_format": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:38:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvFileWriter.frame_size": [
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+    ],
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+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:38:<autosummary>:1"
+    ],
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+      "doc/api/_as_gen/matplotlib.animation.AVConvFileWriter.rst:38:<autosummary>:1"
+    ],
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+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
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+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.finish": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
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+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.isAvailable": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.saving": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:28:<autosummary>:1"
+    ],
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+    ],
+    "matplotlib.animation.AVConvWriter.args_key": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:36:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.exec_key": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:36:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.frame_size": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:36:<autosummary>:1"
+    ],
+    "matplotlib.animation.AVConvWriter.output_args": [
+      "doc/api/_as_gen/matplotlib.animation.AVConvWriter.rst:36:<autosummary>:1"
+    ],
+    "savefig": [
+      "doc/users/prev_whats_new/whats_new_1.4.rst:282",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.AbstractMovieWriter.grab_frame:4",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.Animation.save:52",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FileMovieWriter.grab_frame:2",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.MovieWriter.grab_frame:4",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.PillowWriter.grab_frame:4"
+    ],
+    "Artist": [
+      "doc/api/animation_api.rst:27:<autosummary>:1",
+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.ArtistAnimation:2",
+      "lib/matplotlib/text.py:docstring of matplotlib.text.OffsetFrom:28",
+      "lib/matplotlib/text.py:docstring of matplotlib.text.OffsetFrom:31",
+      "lib/mpl_toolkits/axisartist/axisline_style.py:docstring of mpl_toolkits.axisartist.axisline_style.AxislineStyle:9"
+    ],
+    "matplotlib.animation.ArtistAnimation.new_frame_seq": [
+      "doc/api/_as_gen/matplotlib.animation.ArtistAnimation.rst:21:<autosummary>:1"
+    ],
+    "matplotlib.animation.ArtistAnimation.new_saved_frame_seq": [
+      "doc/api/_as_gen/matplotlib.animation.ArtistAnimation.rst:21:<autosummary>:1"
+    ],
+    "matplotlib.animation.ArtistAnimation.save": [
+      "doc/api/_as_gen/matplotlib.animation.ArtistAnimation.rst:21:<autosummary>:1"
+    ],
+    "matplotlib.animation.ArtistAnimation.to_html5_video": [
+      "doc/api/_as_gen/matplotlib.animation.ArtistAnimation.rst:21:<autosummary>:1"
+    ],
+    "matplotlib.animation.ArtistAnimation.to_jshtml": [
+      "doc/api/_as_gen/matplotlib.animation.ArtistAnimation.rst:21:<autosummary>:1"
+    ],
+    "matplotlib.animation.FFMpegFileWriter.bin_path": [
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+    ],
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+    ],
+    "matplotlib.animation.FFMpegFileWriter.finish": [
+      "doc/api/_as_gen/matplotlib.animation.FFMpegFileWriter.rst:28:<autosummary>:1"
+    ],
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+      "doc/api/_as_gen/matplotlib.animation.FFMpegFileWriter.rst:28:<autosummary>:1"
+    ],
+    "matplotlib.animation.FFMpegFileWriter.isAvailable": [
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+    ],
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+    ],
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+    ],
+    "matplotlib.animation.FFMpegFileWriter.args_key": [
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+    ],
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+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FFMpegFileWriter.supported_formats:1:<autosummary>:1"
+    ],
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+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FFMpegFileWriter.supported_formats:1:<autosummary>:1"
+    ],
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+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FFMpegFileWriter.supported_formats:1:<autosummary>:1"
+    ],
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+      "lib/matplotlib/animation.py:docstring of matplotlib.animation.FFMpegFileWriter.supported_formats:1:<autosummary>:1"
+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
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+    ],
+    "mpl_toolkits.mplot3d.art3d": [
+      "doc/api/toolkits/mplot3d.rst:58"
+    ],
+    "mpl_toolkits.mplot3d.proj3d": [
+      "doc/api/toolkits/mplot3d.rst:104"
+    ],
+    "matplotlib.tests.test_basic": [
+      "doc/devel/testing.rst:99"
+    ],
+    "animation": [
+      "doc/gallery/animation/animation_demo.rst:16"
+    ],
+    "matplotlib": [
+      "doc/gallery/text_labels_and_annotations/annotation_demo.rst:14",
+      "doc/tutorials/introductory/usage.rst:570"
+    ],
+    "matplotlib.patch": [
+      "doc/tutorials/advanced/path_tutorial.rst:16"
+    ],
+    "pyplot": [
+      "doc/tutorials/introductory/lifecycle.rst:34"
+    ],
+    "pyplot.style": [
+      "doc/tutorials/introductory/lifecycle.rst:140"
+    ],
+    "pylab": [
+      "doc/tutorials/introductory/usage.rst:260"
+    ],
+    "mpl_toolkits/axes_grid/inset_locator": [
+      "doc/tutorials/toolkits/axes_grid.rst:359"
+    ]
+  },
+  "std:envvar": {
+    "QT_API": [
+      "doc/api/prev_api_changes/api_changes_3.1.0.rst:453"
+    ],
+    "DISPLAY": [
+      "doc/tutorials/introductory/usage.rst:401"
+    ],
+    "CC": [
+      "INSTALL.rst:93",
+      "doc/users/prev_whats_new/whats_new_1.5.rst:737"
+    ],
+    "CXX": [
+      "INSTALL.rst:93",
+      "doc/users/prev_whats_new/whats_new_1.5.rst:737"
+    ],
+    "PKG_CONFIG": [
+      "INSTALL.rst:93",
+      "doc/users/prev_whats_new/whats_new_1.5.rst:737"
+    ]
+  }
+}
\ No newline at end of file
diff --git a/doc/sphinxext/missing_references.py b/doc/sphinxext/missing_references.py
new file mode 100644
index 000000000000..7c44afdbaac1
--- /dev/null
+++ b/doc/sphinxext/missing_references.py
@@ -0,0 +1,291 @@
+"""
+This is a sphinx extension to freeze your broken reference problems
+when using ``nitpicky = True``.
+
+The basic operation is:
+
+1. Add this extension to your ``conf.py`` extensions.
+2. Add ``missing_references_write_json = True`` to your ``conf.py``
+3. Run sphinx-build. It will generate ``missing-references.json``
+    next to your ``conf.py``.
+4. Remove ``missing_references_write_json = True`` from your
+    ``conf.py`` (or set it to ``False``)
+5. Run sphinx-build again, and ``nitpick_ignore`` will
+    contain all of the previously failed references.
+
+"""
+
+from collections import defaultdict
+import json
+import logging
+from pathlib import Path, PosixPath
+
+from docutils.utils import get_source_line
+from docutils import nodes
+from sphinx.util import logging as sphinx_logging
+
+import matplotlib
+
+logger = sphinx_logging.getLogger(__name__)
+
+
+class MissingReferenceFilter(logging.Filter):
+    """
+    A logging filter designed to record missing reference warning messages
+    for use by this extension
+    """
+    def __init__(self, app):
+        self.app = app
+        super().__init__()
+
+    def _record_reference(self, record):
+        if not (getattr(record, 'type', '') == 'ref' and
+                isinstance(getattr(record, 'location', None), nodes.Node)):
+            return
+
+        if not hasattr(self.app.env, "missing_references_warnings"):
+            self.app.env.missing_references_warnings = defaultdict(set)
+
+        record_missing_reference(self.app,
+            self.app.env.missing_references_warnings,
+            record.location)
+
+    def filter(self, record):
+        self._record_reference(record)
+        return True
+
+
+def record_missing_reference(app, record, node):
+    domain = node["refdomain"]
+    typ = node["reftype"]
+    target = node["reftarget"]
+    location = get_location(node, app)
+
+    domain_type = "{}:{}".format(domain, typ)
+
+    record[(domain_type, target)].add(location)
+
+
+def record_missing_reference_handler(app, env, node, contnode):
+    """
+    When the sphinx app notices a missing reference, it emits an
+    event which calls this function. This function records the missing
+    references for analysis at the end of the sphinx build.
+    """
+    if not app.config.missing_references_enabled:
+        # no-op when we are disabled.
+        return
+
+    if not hasattr(env, "missing_references_events"):
+        env.missing_references_events = defaultdict(set)
+
+    record_missing_reference(app, env.missing_references_events, node)
+
+
+def get_location(node, app):
+    """
+    Given a docutils node and a sphinx application, return a string
+    representation of the source location of this node.
+
+    Usually, this will be of the form "path/to/file:linenumber". Two
+    special values can be emitted, "<external>" for paths which are
+    not contained in this source tree (e.g. docstrings included from
+    other modules) or "<unknown>", inidcating that the sphinx application
+    cannot locate the original source file (usually because an extension
+    has injected text into the sphinx parsing engine).
+    """
+    (path, line) = get_source_line(node)
+
+    if path:
+
+        # We locate references relative to the parent of the doc
+        # directory, which for matplotlib, will be the root of the
+        # matplotlib repo. When matplotlib is not an editable install
+        # weird things will happen, but we can't totally recover from
+        # that.
+        basepath = Path(app.srcdir).parent.resolve()
+
+        fullpath = Path(path).resolve()
+
+        try:
+            path = fullpath.relative_to(basepath)
+        except ValueError:
+            # Sometimes docs directly contain e.g. docstrings
+            # from installed modules, and we record those as
+            # <external> so as to be independent of where the
+            # module was installed
+            path = Path("<external>") / fullpath.name
+
+        # Ensure that all reported paths are POSIX so that docs
+        # on windows result in the same warnings in the JSON file.
+        path = path.as_posix()
+
+    else:
+        path = "<unknown>"
+
+    if not line:
+        line = ""
+
+    return f"{path}:{line}"
+
+
+def _truncate_location(location):
+    """
+    Cuts off anything after the first colon in location strings.
+
+    This allows for easy comparison even when line numbers chagne
+    (as they do regularily).
+    """
+    if ":" in location:
+        return location.split(":", 1)[0]
+    return location
+
+
+def _warn_unused_missing_references(app):
+    if not app.config.missing_references_warn_unused_ignores:
+        return
+
+    # We can only warn if we are building from a source install
+    # otherwise, we just have to skip this step.
+    basepath = Path(matplotlib.__file__).parent.parent.parent.resolve()
+    srcpath = Path(app.srcdir).parent.resolve()
+
+    if basepath != srcpath:
+        return
+
+    # This is a dictionary of {(domain_type, target): locations}
+    references_ignored = getattr(app.env,
+        'missing_references_ignored_references', {})
+    references_events = getattr(app.env, 'missing_references_events', {})
+
+    # Warn about any reference which is no longer missing.
+    for (domain_type, target), locations in references_ignored.items():
+        missing_reference_locations = [_truncate_location(location)
+            for location in references_events.get((domain_type, target), [])]
+
+        # For each ignored reference location, ensure a missing reference
+        # was observed. If it wasn't observed, issue a warning.
+        for ignored_reference_location in locations:
+            short_location = _truncate_location(ignored_reference_location)
+            if short_location not in missing_reference_locations:
+                msg = (f"Reference {domain_type} {target} for "
+                       f"{ignored_reference_location} can be removed"
+                       f" from {app.config.missing_references_filename}."
+                        "It is no longer a missing reference in the docs.")
+                logger.warning(msg,
+                    location=ignored_reference_location,
+                    type='ref',
+                    subtype=domain_type)
+
+
+def save_missing_references_handler(app, exc):
+    """
+    At the end of the sphinx build, check that all lines of the existing JSON
+    file are still necessary.
+
+    If the configuration value ``missing_references_write_json`` is set
+    then write a new JSON file containing missing references.
+    """
+    if not app.config.missing_references_enabled:
+        # no-op when we are disabled.
+        return
+
+    _warn_unused_missing_references(app)
+
+    json_path = (Path(app.confdir) /
+                 app.config.missing_references_filename)
+
+    references_warnings = getattr(app.env, 'missing_references_warnings', {})
+
+    if app.config.missing_references_write_json:
+        _write_missing_references_json(references_warnings, json_path)
+
+
+def _write_missing_references_json(records, json_path):
+    """
+    Convert ignored references to a format which we can write as JSON
+
+    Convert from ``{(domain_type, target): locations}`` to
+    ``{domain_type: {target: locations}}`` since JSON can't serialize tuples.
+    """
+    transformed_records = defaultdict(dict)
+
+    for (domain_type, target), paths in records.items():
+        transformed_records[domain_type][target] = sorted(paths)
+
+    with json_path.open("w") as stream:
+        json.dump(transformed_records, stream, indent=2)
+
+
+def _read_missing_references_json(json_path):
+    """
+    Convert from the JSON file to the form used internally by this
+    extension.
+
+    The JSON file is stored as ``{domain_type: {target: [locations,]}}``
+    since JSON can't store dictionary keys which are tuples. We convert
+    this back to ``{(domain_type, target):[locations]}`` for internal use.
+
+    """
+    with json_path.open("r") as stream:
+        data = json.load(stream)
+
+    ignored_references = {}
+    for domain_type, targets in data.items():
+        for target, locations in targets.items():
+            ignored_references[(domain_type, target)] = locations
+    return ignored_references
+
+
+def prepare_missing_references_handler(app):
+    """
+    Handler called to initialize this extension once the configuration
+    is ready.
+
+    Reads the missing references file and populates ``nitpick_ignore`` if
+    appropriate.
+    """
+    if not app.config.missing_references_enabled:
+        # no-op when we are disabled.
+        return
+
+    sphinx_logger = logging.getLogger('sphinx')
+    missing_reference_filter = MissingReferenceFilter(app)
+    for handler in sphinx_logger.handlers[:]:
+        if (isinstance(handler, sphinx_logging.WarningStreamHandler)
+                and missing_reference_filter not in handler.filters):
+
+            # This *must* be the first filter, because subsequent filters
+            # throw away the node information and then we can't identify
+            # the reference uniquely.
+            handler.filters.insert(0, missing_reference_filter)
+
+    app.env.missing_references_ignored_references = {}
+
+    json_path = (Path(app.confdir) /
+                    app.config.missing_references_filename)
+    if not json_path.exists():
+        return
+
+    ignored_references = _read_missing_references_json(json_path)
+
+    app.env.missing_references_ignored_references = ignored_references
+
+    # If we are going to re-write the JSON file, then don't suppress missing
+    # reference warnings. We want to record a full list of missing references
+    # for use later. Otherwise, add all known missing references to
+    # ``nitpick_ignore```
+    if not app.config.missing_references_write_json:
+        app.config.nitpick_ignore.extend(ignored_references.keys())
+
+
+def setup(app):
+    app.add_config_value("missing_references_enabled", True, "env")
+    app.add_config_value("missing_references_write_json", False, "env")
+    app.add_config_value("missing_references_warn_unused_ignores", True, "env")
+    app.add_config_value("missing_references_filename",
+                         "missing-references.json", "env")
+
+    app.connect("builder-inited", prepare_missing_references_handler)
+    app.connect("missing-reference", record_missing_reference_handler)
+    app.connect("build-finished", save_missing_references_handler)