Used to use Normcap (OCR) to capture chapters in audiobooks then copy and paste them. So in Mediainfo it kinda has a text output but still need to parse it. kid3-cli seems to be easiest to parse and just returning Chapter names stripping out all the extra info.
for f in *opus; do kid3-cli -c "get all" "$f" | sed -E -e 's|(\s+CHAPTER[0-9]{3}NAME\s+)||g' -e 's|(CHAPTER[0-9]{3})(\s+)(.*?$)||g' | awk 'NF' ; done
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