I would love this too, it's a very common use case in paragliding, where all you want from the flight computer is to know if you can reach that hill/trigger point/landing (not on your waypoint list) or how much climb you need before committing to the jump.

Meanwhile I sorted it by using custom events:
Create a file called custom-events.xci in the xcsoar files folder, with the following:

## Change What's Here to GoTo Marker
# @see https://groups.google.com/g/xcsoar-user/c/z3_zckhSh1E
mode=pan
type=key
data=APP4
event=NearestMapItems
event=MarkLocation
event=Mode default
label=GoTo\nMarker
location=4

The load the file from "Config > System > Look > Events" (Expert mode must be enabled)

This will swap the "What's here" button with "GoTo Marker" when in pan mode:

• Pan when you want to go, hit "GoTo Marker"
• A dialog will open with the closest waypoint and the first should be your marker, already selected
• Hit GoTo

It works fairly well but the downside is that requires few taps and it will fill your waypoint list with markers, which you may edit later, but they may not necessary be useful.

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Does anyone know if is there a way to achieve the same by using the AddWaypoint event, similarly to what the default takeoff event is doing?