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have a look at element_picker.py in this PR #880

Here is another example of what I think you are asking for (which only works if the above PR is merged, or you can switch to that branch to try it out):
move the mouse to select elements. Left click to cycle through candidate elements under the cursor. Press enter to select the entity and close the window.
I wasn't sure whether you wanted the full controls such as the layers list or if you just wanted the CAD widget so the example below has both

import signal
from typing import Optional

import ezdxf
from ezdxf.addons.drawing.qtviewer import CADGraphicsViewWithOverlay, CADWidget, CADViewer
from ezdxf.addons.xqt import QtCore as qc, QtGui as qg

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@jkraehling
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