Today I learned (remembered, actually) that it’s possible to jump directly to an Org heading by navigating a list of headings. The command responsible for this is org-goto.

Nonetheless, org-goto’s default behavior (incremental search) is a bit weird in my opinion. But there are ways to configure it, and switch to searching through the buffer’s outline via completion:

(setq org-goto-interface 'outline-path-completion)

According to user Basil on Stackoverflow, users of completion packages like ido/ivy/helm will probably want to change the following setting in order to see the whole target path at once:

(setq org-outline-path-complete-in-steps nil)

I’m using vertico and it worked out of the box, without the above variable set to nil.