macOS has a built-in window switcher (Control+F4). It’s two steps: activate the list, then select a window. It has no memory of what you searched for last. Every time you switch, you start from scratch.
FFWF (Fast Fuzzy Window Finder) solves this. Menu bar app with global hotkey. Type to fuzzy filter windows by title. Windows stay visible in the list. Use arrow keys to select. Hit Enter. Done. Remembers your last search. Works with VoiceOver.