I am starting to work on a family of R packages, all of which share substantial common code which is housed in its own package, lets call it myPackageUtilities.
Welcome to the rabbit hole.
You may be pleasantly surprised to learn that you can import a function from myPackageUtilities into myPackage1 and then export it from myPackage1 to make it accessible from the global environment.
So, when you say that you have a function in myPackageUtilities that should be accessible by the end user when myPackage1 is loaded, this is what I would include in my documentation for fn_name in myPackage1
#' @importFrom myPackageUtilities fn_name
#' @export fn_name
(See https://github.com/hadley/dplyr/blob/master/R/utils.r for an example)
That still leaves the question of how to link to the original documentation. And I'm afraid I don't have a good answer for that. My current practice is to, essentially, copy the parameters documentation from the original source and then in my @details section write please see the documentation for \code{\link[myPackageUtilities]{fn_name}}
In the end, I still think your best bet is to export everything from myPackageUtilities that will ever get used outside of myPackageUtilities and do a combination import-export in each package where you want a function from myPackageUtilities to be accessible from the global environment.