If you're anything like me in the terminal you're continuously using the up arrow to look back through commands. Today I found that if you hold the CTRL key then press R it will load the previous command search (I use Ubuntu 20.04 LTS). Start typing and if the command you want is shown press enter to execute. If this is not the correct command press CTRL-R to search back further. If you do not want to execute just hit CTRL-C to cancel.
Hint - this is based on your HISTSIZE setting. The default on my system is 500 which is fine for my purposes.