It's easy implement in a note with [toc] keyword but the TOC was pinned at the top of note then we need to go back to the beginning of the page to select and jumping again to another section.
I've looked around for TOC in Joplin then I found TOC in a sidebar is good idea but your content will be smaller than original.
I suggest an idea to help user can jump to the marked content and navigate TOC easier with TOC menu as a drop-down button on the Toolbar. When user clicks on it, then select the headlines in it.
Thanks,
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Alternatively, it could be a slider that, when enabled, occupies the same space as the list of notebooks on the left of the edit window. Imagine if you could flick it in and out with your left thumb.