The idea is to add a new protocol that looks like "org-protocol://goto-heading?id=UUID-HERE" that jumps to the specified Org heading in Emacs.  The implementation is really simple:

;;;###autoload
(defun goto-heading (arg)
  "Org protocol handler for navigating to Org headings.
ARG is a property list."
  (org-id-goto (plist-get arg :id))
  (raise-frame))

(then add the appropriate item to org-protocol-protocol-alist-default)

The use case for this is to be able to link to Org headings from external programs, e.g., Google Docs.