A simple quality of life datapack that teleports you to the location of the held compass when standing over a lodestone for 2 seconds. No shifting, no swapping extra items, no advanced configurations, just a plug-and-play portal-like mechanic that works cross-dimension.
You can also add a compass on the lodestone using an item frame on any face of the block to create a fixed teleportation point. This will remove the need to hold the compass and enable entities to travel over it. If you're holding a compass, it will overwrite the fixed point and allow you to teleport normally to that destination.
If you need something more advanced with customizations, check out this awesome alternative, LodestoneTP by ivaynn.