ido-goto-symbol

(defun ido-goto-symbol ()
    "Will update the imenu index and then use ido to select a symbol to navigate to"
    (interactive)
    (imenu--make-index-alist)
    (let ((name-and-pos '())
          (symbol-names '()))
      (flet ((addsymbols (symbol-list)
                         (when (listp symbol-list)
                           (dolist (symbol symbol-list)
                             (let ((name nil) (position nil))
                               (cond
                                ((and (listp symbol) (imenu--subalist-p symbol))
                                 (addsymbols symbol))
   
                                ((listp symbol)
                                 (setq name (car symbol))
                                 (setq position (cdr symbol)))
   
                                ((stringp symbol)
                                 (setq name symbol)
                                 (setq position (get-text-property 1 'org-imenu-marker symbol))))
   
                               (unless (or (null position) (null name))
                                 (add-to-list 'symbol-names name)
                                 (add-to-list 'name-and-pos (cons name position))))))))
        (addsymbols imenu--index-alist))
      (let* ((selected-symbol (ido-completing-read "Symbol? " symbol-names))
             (position (cdr (assoc selected-symbol name-and-pos))))
        (goto-char position))))