diff --git a/docs/deprecated.md b/docs/deprecated.md
index 2ead1ab81..6719f8065 100644
--- a/docs/deprecated.md
+++ b/docs/deprecated.md
@@ -15,6 +15,7 @@ They are currently still available for backwards compatibility, but should not b
   - [InvalidOptionArgumentError](#invalidoptionargumenterror)
   - [Short option flag longer than a single character](#short-option-flag-longer-than-a-single-character)
   - [Import from `commander/esm.mjs`](#import-from-commanderesmmjs)
+  - [.\_args](#_args)
 
 ## RegExp .option() parameter
 
@@ -207,3 +208,17 @@ import { Command } from 'commander';
 ```
 
 README updated in Commander v9. Deprecated from Commander v9.
+
+## ._args
+
+The registered command argument instances have been made accessible via `.registeredArguments`.
+
+```js
+const program = new Command().arguments('arg1 <arg2> [arg3]');
+const argumentNamesForUsage = program.registeredArguments
+  .map(arg => arg.required ? `< ${arg.name()} >` : `[ ${arg.name()} ]`)
+  .join(' ');
+program.usage('program ' + argumentNamesForUsage);
+```
+
+The older name of the property was `_args`. It was never documented but is still available so that old code relying on it keeps working. Do not use it.
diff --git a/lib/command.js b/lib/command.js
index 590a271dd..d6554b31a 100644
--- a/lib/command.js
+++ b/lib/command.js
@@ -29,7 +29,8 @@ class Command extends EventEmitter {
     this._allowUnknownOption = false;
     this._allowExcessArguments = true;
     /** @type {Argument[]} */
-    this._args = [];
+    this.registeredArguments = [];
+    this._args = this.registeredArguments; // deprecated
     /** @type {string[]} */
     this.args = []; // cli args with options removed
     this.rawArgs = [];
@@ -343,14 +344,14 @@ class Command extends EventEmitter {
    * @return {Command} `this` command for chaining
    */
   addArgument(argument) {
-    const previousArgument = this._args.slice(-1)[0];
+    const previousArgument = this.registeredArguments.slice(-1)[0];
     if (previousArgument && previousArgument.variadic) {
       throw new Error(`only the last argument can be variadic '${previousArgument.name()}'`);
     }
     if (argument.required && argument.defaultValue !== undefined && argument.parseArg === undefined) {
       throw new Error(`a default value for a required argument is never used: '${argument.name()}'`);
     }
-    this._args.push(argument);
+    this.registeredArguments.push(argument);
     return this;
   }
 
@@ -470,7 +471,7 @@ Expecting one of '${allowedValues.join("', '")}'`);
   action(fn) {
     const listener = (args) => {
       // The .action callback takes an extra parameter which is the command or options.
-      const expectedArgsCount = this._args.length;
+      const expectedArgsCount = this.registeredArguments.length;
       const actionArgs = args.slice(0, expectedArgsCount);
       if (this._storeOptionsAsProperties) {
         actionArgs[expectedArgsCount] = this; // backwards compatible "options"
@@ -1105,29 +1106,29 @@ Expecting one of '${allowedValues.join("', '")}'`);
   }
 
   /**
-   * Check this.args against expected this._args.
+   * Check this.args against expected this.registeredArguments.
    *
    * @api private
    */
 
   _checkNumberOfArguments() {
     // too few
-    this._args.forEach((arg, i) => {
+    this.registeredArguments.forEach((arg, i) => {
       if (arg.required && this.args[i] == null) {
         this.missingArgument(arg.name());
       }
     });
     // too many
-    if (this._args.length > 0 && this._args[this._args.length - 1].variadic) {
-      return;
-    }
-    if (this.args.length > this._args.length) {
+    if (this.registeredArguments.length > 0 &&
+      this.registeredArguments[this.registeredArguments.length - 1].variadic
+    ) return;
+    if (this.args.length > this.registeredArguments.length) {
       this._excessArguments(this.args);
     }
   }
 
   /**
-   * Process this.args using this._args and save as this.processedArgs!
+   * Process this.args using this.registeredArguments and save as this.processedArgs!
    *
    * @api private
    */
@@ -1153,7 +1154,7 @@ Expecting one of '${allowedValues.join("', '")}'`);
     this._checkNumberOfArguments();
 
     const processedArgs = [];
-    this._args.forEach((declaredArg, index) => {
+    this.registeredArguments.forEach((declaredArg, index) => {
       let value = declaredArg.defaultValue;
       if (declaredArg.variadic) {
         // Collect together remaining arguments for passing together as an array.
@@ -1768,7 +1769,7 @@ Expecting one of '${allowedValues.join("', '")}'`);
   _excessArguments(receivedArgs) {
     if (this._allowExcessArguments) return;
 
-    const expected = this._args.length;
+    const expected = this.registeredArguments.length;
     const s = (expected === 1) ? '' : 's';
     const forSubcommand = this.parent ? ` for '${this.name()}'` : '';
     const message = `error: too many arguments${forSubcommand}. Expected ${expected} argument${s} but got ${receivedArgs.length}.`;
@@ -1909,13 +1910,13 @@ Expecting one of '${allowedValues.join("', '")}'`);
     if (str === undefined) {
       if (this._usage) return this._usage;
 
-      const args = this._args.map((arg) => {
+      const args = this.registeredArguments.map((arg) => {
         return humanReadableArgName(arg);
       });
       return [].concat(
         (this.options.length || this._hasHelpOption ? '[options]' : []),
         (this.commands.length ? '[command]' : []),
-        (this._args.length ? args : [])
+        (this.registeredArguments.length ? args : [])
       ).join(' ');
     }
 
diff --git a/lib/help.js b/lib/help.js
index 14e0fb9f3..af8f836e6 100644
--- a/lib/help.js
+++ b/lib/help.js
@@ -121,14 +121,14 @@ class Help {
   visibleArguments(cmd) {
     // Side effect! Apply the legacy descriptions before the arguments are displayed.
     if (cmd._argsDescription) {
-      cmd._args.forEach(argument => {
+      cmd.registeredArguments.forEach(argument => {
         argument.description = argument.description || cmd._argsDescription[argument.name()] || '';
       });
     }
 
     // If there are any arguments with a description then return all the arguments.
-    if (cmd._args.find(argument => argument.description)) {
-      return cmd._args;
+    if (cmd.registeredArguments.find(argument => argument.description)) {
+      return cmd.registeredArguments;
     }
     return [];
   }
@@ -142,7 +142,7 @@ class Help {
 
   subcommandTerm(cmd) {
     // Legacy. Ignores custom usage string, and nested commands.
-    const args = cmd._args.map(arg => humanReadableArgName(arg)).join(' ');
+    const args = cmd.registeredArguments.map(arg => humanReadableArgName(arg)).join(' ');
     return cmd._name +
       (cmd._aliases[0] ? '|' + cmd._aliases[0] : '') +
       (cmd.options.length ? ' [options]' : '') + // simplistic check for non-help option
diff --git a/tests/command.argumentVariations.test.js b/tests/command.argumentVariations.test.js
index a8a781625..a78464aaf 100644
--- a/tests/command.argumentVariations.test.js
+++ b/tests/command.argumentVariations.test.js
@@ -4,7 +4,7 @@ const commander = require('../');
 // and not exhaustively testing all methods elsewhere.
 
 test.each(getSingleArgCases('<explicit-required>'))('when add "<arg>" using %s then argument required', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'explicit-required',
     required: true,
@@ -15,7 +15,7 @@ test.each(getSingleArgCases('<explicit-required>'))('when add "<arg>" using %s t
 });
 
 test.each(getSingleArgCases('implicit-required'))('when add "arg" using %s then argument required', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'implicit-required',
     required: true,
@@ -26,7 +26,7 @@ test.each(getSingleArgCases('implicit-required'))('when add "arg" using %s then
 });
 
 test.each(getSingleArgCases('[optional]'))('when add "[arg]" using %s then argument optional', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'optional',
     required: false,
@@ -37,7 +37,7 @@ test.each(getSingleArgCases('[optional]'))('when add "[arg]" using %s then argum
 });
 
 test.each(getSingleArgCases('<explicit-required...>'))('when add "<arg...>" using %s then argument required and variadic', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'explicit-required',
     required: true,
@@ -48,7 +48,7 @@ test.each(getSingleArgCases('<explicit-required...>'))('when add "<arg...>" usin
 });
 
 test.each(getSingleArgCases('implicit-required...'))('when add "arg..." using %s then argument required and variadic', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'implicit-required',
     required: true,
@@ -59,7 +59,7 @@ test.each(getSingleArgCases('implicit-required...'))('when add "arg..." using %s
 });
 
 test.each(getSingleArgCases('[optional...]'))('when add "[arg...]" using %s then argument optional and variadic', (methodName, cmd) => {
-  const argument = cmd._args[0];
+  const argument = cmd.registeredArguments[0];
   const expectedShape = {
     _name: 'optional',
     required: false,
@@ -79,8 +79,8 @@ function getSingleArgCases(arg) {
 }
 
 test.each(getMultipleArgCases('<first>', '[second]'))('when add two arguments using %s then two arguments', (methodName, cmd) => {
-  expect(cmd._args[0].name()).toEqual('first');
-  expect(cmd._args[1].name()).toEqual('second');
+  expect(cmd.registeredArguments[0].name()).toEqual('first');
+  expect(cmd.registeredArguments[1].name()).toEqual('second');
 });
 
 function getMultipleArgCases(arg1, arg2) {
@@ -99,6 +99,6 @@ test('when add arguments using multiple methods then all added', () => {
   cmd.arguments('<arg3> <arg4>');
   cmd.argument('<arg5>');
   cmd.addArgument(new commander.Argument('arg6'));
-  const argNames = cmd._args.map(arg => arg.name());
+  const argNames = cmd.registeredArguments.map(arg => arg.name());
   expect(argNames).toEqual(['arg1', 'arg2', 'arg3', 'arg4', 'arg5', 'arg6']);
 });
diff --git a/tests/command.createArgument.test.js b/tests/command.createArgument.test.js
index da69c721f..599efdfc4 100644
--- a/tests/command.createArgument.test.js
+++ b/tests/command.createArgument.test.js
@@ -21,20 +21,20 @@ class MyCommand extends commander.Command {
 test('when override createArgument then used for argument()', () => {
   const program = new MyCommand();
   program.argument('<file>');
-  expect(program._args.length).toEqual(1);
-  expect(program._args[0].myProperty).toEqual('MyArgument');
+  expect(program.registeredArguments.length).toEqual(1);
+  expect(program.registeredArguments[0].myProperty).toEqual('MyArgument');
 });
 
 test('when override createArgument then used for arguments()', () => {
   const program = new MyCommand();
   program.arguments('<file>');
-  expect(program._args.length).toEqual(1);
-  expect(program._args[0].myProperty).toEqual('MyArgument');
+  expect(program.registeredArguments.length).toEqual(1);
+  expect(program.registeredArguments[0].myProperty).toEqual('MyArgument');
 });
 
 test('when override createArgument and createCommand then used for argument of command()', () => {
   const program = new MyCommand();
   const sub = program.command('sub <file>');
-  expect(sub._args.length).toEqual(1);
-  expect(sub._args[0].myProperty).toEqual('MyArgument');
+  expect(sub.registeredArguments.length).toEqual(1);
+  expect(sub.registeredArguments[0].myProperty).toEqual('MyArgument');
 });
diff --git a/typings/index.d.ts b/typings/index.d.ts
index 695c3bd25..a1b738f00 100644
--- a/typings/index.d.ts
+++ b/typings/index.d.ts
@@ -281,6 +281,9 @@ export class Command {
   processedArgs: any[];
   readonly commands: readonly Command[];
   readonly options: readonly Option[];
+  readonly registeredArguments: readonly Argument[];
+  /** @deprecated Use `.registeredArguments` instead. */
+  readonly _args: readonly Argument[]; // added here for strikethrough highlighting in editors
   parent: Command | null;
 
   constructor(name?: string);