These aliases for zsh I use all the time. It's part of the prezto configuration framework.

setopt AUTO_CD              # Auto changes to a directory without typing cd.
setopt AUTO_PUSHD           # Push the old directory onto the stack on cd.
setopt PUSHD_IGNORE_DUPS    # Do not store duplicates in the stack.
setopt PUSHD_SILENT         # Do not print the directory stack after pushd or popd.
setopt PUSHD_TO_HOME        # Push to home directory when no argument is given.

alias d='dirs -v'
for index ({1..9}) alias "$index"="cd +${index}"; unset index

Type d and enter to list all the directories you've recently been in, then type the number at the start of the line followed by enter to immediately cd there.

Not sure if latest bash can do it the same thing, but some years ago I wrote a script to implement it there too. IIRC it might've been the automatic removal of duplicates in dir history that was missing.