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From: Thibault Marin <thibault.marin@gmx.com>
Subject: Re: org-custom-id-goto?
Date: Wed, 04 Dec 2019 20:50:16 -0500
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> I'd also be happy with a helm interface to the actual headline text....

I use `helm-semantic-or-imenu' to navigate between org headlines, it may
partly fit your needs.