How to show header in the breadcrumbs in Top Bar or highlight the current header in Outline?

What I’m trying to do

I want to have the breadcrumbs in Top Bar show the header of the section I am currently at. For example, 02 Areas / Coding / Projects or 02 Areas / Coding / Obsidian Links.

It currently shows just 02 Areas / Coding. Showing the headers and nested sub-headers would help a lot in navigating a large note.

An alternative would be to have the header highlighted in the Outline in sidebar. But I would prefer the breadcrumbs in the Top Bar as the Outline sidebar seems to have different behaviour in main screen and other screen (multi monitor).

How can I set this? Or is there a plugin?

Screenshot showing what I mean by Top Bar and Outline sidebar
Screenshot showing what I mean by Top Bar and Outline sidebar

Things I have tried

I tried googling and looked on reddit and this forum and found no useful info.