I use the following snippet to quickly link to headings by ID with
via org-insert-link. If there's any interest, I'm happy to clean this
up and submit a patch but I figured I'd ask first.
(org-link-set-parameters
"id"
:complete
(lambda (&optional _prefix)
(unless org-id-locations (org-id-locations-load))
(when-let* ((id (org-id-get-with-outline-path-completion
'((org-id-files . (:maxlevel . 10))))))
(concat "id:" id)))
:insert-description
(lambda (link desc)
(or (org-string-nw-p desc)
(when-let* ((loc (org-id-find (string-remove-prefix "id:" link))))
(org-with-file-buffer (car loc)
(save-excursion
(goto-char (cdr loc))
(org-link-display-format
(org-get-heading t t t t))))))))
