A saturation spectroscopy measurement of the P(1) line of the ($2-0$) band in HD is performed in a sensitive cavity-enhanced optical setup involving frequency comb calibration. The spectral signature is that of a Lamb-peak, in agreement with a density-matrix model description involving 9 hyperfine components and 16 crossover resonances of $Lambda$-type. Comparison of the experimental spectra with the simulations yields a rovibrational transition frequency at 209,784,242,007 (20) kHz. Agreement is found with a first principles calculation in the framework of non-adiabatic quantum electrodynamics within 2$sigma$, where the combined uncertainty is fully determined by theory.
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