C (clang), 191 188 bytes

-3 thanks to @ceilingcat

*S="><+-.,[]";i;l;d;f(char*a,**e){for(i=5,l=printf("    %s \n",a);*a;printf("%*s%s\n",l-i,"",e[d?d-(int)S:8]))for(d=index(S,*a),printf("%*c",i++,*a);!d&!index(S,*++a);)i+=write(1,a,*a>0);}

Try it online!Assumes explanations are in the order > < + - . , [ ] NOP.