I need to inspect the binary content of the GSUB and GPOS tables in an OpenType font file in a more human-friendly way. Is there any software available that does that ?

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fonttools/TTX may do what you want. It is a Python-based font manipulation library. The TTX component can dump a font (TTF or OTF) to XML, allowing you to view the GSUB and GPOS (and many other tables) in an abstract way.