iTerm on macOS does this. It calls them "marks", and you can set them anywhere, but by default it creates a mark for each prompt. You can then jump between them

iTerm on macOS does this. It calls them "marks", and you can set them anywhere, but by default it creates a mark for each prompt. You can then jump between them with cmd-arrow. iTerm also suppers showing the timestamp of each line, and it visualizes this in a nice way where lines emitted around the same time have their timestamps replaced with a vertical line.