Not with less(1), which is default pager in Ubuntu (and GNU in general).
There are several tools available, thing that works in terminal and is not a full-blown GNU Emacs is called info(1):
$ info apt
TAB to focus the next link M-TAB¹ — previous link, RET to follow a link under cursor, f (for ‘follow’, I guess) to ask which link to go, completion available (usual TAB for that).
Please note, that when started info(1) defaults to a proper Info documentation (if such exists), rather that manpages. If that is not what you want by some reason, you have to specify man section explicitly:
$ info 'mkdir(1)' # that’s a man page
$ info mkdir # that’s a section in the full manual for Coreutils
¹ ESC TAB if meta-tab (which might or might not be the same as alt-tab) does not work in you terminal.