🙃 A delightful community-driven (with 2,100+ contributors) framework for managing your zsh configuration. Includes 300+ optional plugins (rails, git, macOS, hub, docker, homebrew, node, php, python, etc), 140+ themes to spice up your morning, and an auto-update tool so that makes it easy to keep up with the latest updates from the community.
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.
The user-friendly command line shell.
Have you tried fish?
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The shell-like, command line terminal file manager: simple, fast, extensible, and lightweight as hell
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.
🤖 Real-time type-ahead completion for Zsh. Asynchronous find-as-you-type autocompletion.
There's https://github.com/marlonrichert/zsh-autocomplete which looks neat, but I haven't tried it because it also looks overwhelming.
sd: your script directory
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