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Using an IDE
Language servers provide IDE-like features (syntax highlighting, inline errors, go-to-definition, find-all-callers) through a consistent interface that different code editors can use. Visual Studio Code invented the concept, but people have written plugins to add language server support to all kinds of editors, including classics like Emacs and Vim.
clangd is a language server for C and C++ based on Clang and LLVM. It requires metadata about what compiler-flags are used for compiling each source file, but Bear is a tool for Linux and macOS that will automatically generate that metadata by watching higan's build process.
It gets a bit confused if you edit one of the header files that doesn't #include definitions of any of the types and functions it uses (because it's intended to be #included in a larger header that does those things), but it generally works.