I tried zoxide, but at the end settled for using fzf to quickly find and enter directories:

  qcd () {
   local d
   dirs=$(fd -t d -t l --ignore-file ~/.gitignore . $@)
   d="$(echo ${dirs} | fzf +m --height=50%)"  && cd "${d}"
  }
  
  alias hd="qcd ${HOME}"

There's a built-in shortcut with fzf to change directories I think it's alt+d