Just found out that the Extension Keys for Safari is available on both macOS and iPadOS. It allows for selecting a link on the current page by typing a key (Default is G, but can be customized to any key) and then typing the highlighted initials of the link to get you there.
It’s far less comprehensive than the macOS alternatives such as Vimari (for Safari) and Vimium (for Chromium browsers). But it gets the main task that Safari doesn’t already provide a shortcut to.