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Not an answer to your question, but the z plugin for zsh can come in handy to navigate "last opened" directories just by really typing z and no more.
Have you tried fish?
You can give a try to CliFM. This file manager (entirely command-line based) provides Fish-like auto-suggestions (not only for paths), and, paired with FZF, it displays all possible completions matching the current input. It pretty much does what you're asking for.
There's https://github.com/marlonrichert/zsh-autocomplete which looks neat, but I haven't tried it because it also looks overwhelming.
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