Highlight sections of code when I click my cursor at a particular point?

Is there a way to have Mathematica automatically highlight sections of code when I click my cursor at a particular point in my code? For example, if I click at the second bracket in this:

F[G[H[t]]]

It will highlight the entire [H[t]] instead of the end brackets?

Double clicking achieves somethig similar. There is also the menu Edit > Extend Selection that can help.

It’s a start, but more like when I hover over the bracket, it will highlight everything between that bracket and its respective end bracket. Not necessarily select it though.