A simple server-sided mod (works on singleplayer when on client) to turn beacon into waypoints which you can teleport to.
Required mods : Fabric API
Right click with a renamed pearl on an activated beacon to enable teleportation to it.
Then use the /warp command to teleport where you want
Either specify a waypoint name or no argument to open the menu
Tip
Throw an item on top of the beacon when creating it to change the icon displayed in the menu
The waypoints data is stored under the %appdata%/.minecraft/saves/world/data/beaconwaypoints.data file