In the beginning, I was determined to stick to 
MuPDF as the PDF viewer due to its fast and complete features despite being small and lightweight but I kept encountering unpleasant experiences while compiling documents where it always froze the screen of my laptop when I closed the viewer. As such, I then decided to just use
zathura that was built from source as I would like it to have both
synctex-backward/inverse-search worked properly.
So basically, in order to have a complete functional
zathura that enables full support of
synctex, I need the below
dependent packages (as available on Arch or in the official website of zathura itself) installed first before compiling it from
I then downloaded the latest version of 
zathura (currently is 0.4.7), extracted it to
~/build directory, and run
make install to install.
Now, how to do the
zathura when compiling .tex documents with
latexmk (the default compiler for
synctex-forward-search: Go to nvim (if using this editor) where the .tex doc is opened and point to the sentence we would like to see in zathura, and then press
zathura, it brings us to the page containing the sentence we previously pointed from nvim.
synctex-backward/inverse-search: In zathura, press
Ctrl + highlight(Left Click and select the word with touchpad/mouse), the cursor will then automatically be pointed to the front line of the .tex file in nvim where it contains the word highlighted from zathura.
Watch the video below to see it in action (updated on 24 September 2020, and the editor used is VIM).
Zathura can be customized with a simple config file. Save the config file as
~/.config/zathura directory, like the one I have [here].
Related configuration files are as follows:-