As mentioned here, I’ve written a plugin for adding ID tags to headers automatically. It runs as a kirbytext filter after all kirbytext has been processed.
I’ve also set it up to automatically add link tags to the headers for ease of accessing the necessary links. The plugin doesn’t go so far as to add any styling or scripting that you might want to help with the user experience of using these links, but I would be open to adding script files to the repo if you come up with something (like making the link auto-copy when clicked) that you think is useful.
I hesitated to post it for awhile, but it seem to be working well in the real world for us after a number of tweaks. My code may be atrocious, but feel free to improve upon it and submit pull requests.
The plugin is called HeadID and is available on github.