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I don't use it, but you may want to take a look at org-ql, specifically the org-ql-search command, which does something similar. It may or may not be what you want.
I use imenu, and helm-imenu to filter out the list interactively. Instead of scrolling through, you "jump" to an item via completion like helm-imenu, which filters all headings interactively in real-time as you type.
I am using it in my literate org-config. If you scroll down, there is a big list of packages, and I have done a small wrapper around helm-imenu, to jump to a package configuration. Looks like this.