The classic book on the subject is RESTful Web APIs[1], and it spends a while explaining HATEOAS by using the example of the web as we've come to expect it as the exemplar REST API using HATEOAS. I also have this essay[2] on HATEOAS in my open tabs, and it uses the example of a web browser fetching a web page.
This should come with a big warning for people looking to do real work. This is not what most REST APIs are like in practice, nor what they should be. The vast majority of REST APIs are RPC-like, because that's the pragmatic way to deal with the problem 99% of the time. The "REST" branding is just for buzzword compliance.
[1] https://www.oreilly.com/library/view/restful-web-apis/978144...
[2] https://htmx.org/essays/hateoas/