Document structure sidebar for working with Rmarkdown

When working on a large Rmarkdown document, it would be great to have a sidebar showing the document structure - so that I could click on a heading and jump the editor to that position. I don't think anything like this exists currently for RStudio - would it be something that could be implemented?

There is a shortcut in the upper right corner of the window (Ctrl+Shift+O) and also an outline menu in the bottom left.

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