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I use hstr. It binds to <Ctrl>-r and lists your command history similar to bash’s biilt-in tool, but it adds live filtering: type a couple characters of the command you’re looking for and the list filters to only those and colors the characters. It’s quite good. And you can use arrow keys to navigate the list.
Thanks for the suggestion. It was already suggested. It looks pretty good, though it wasn’t the one I had originally seen.