@mms Would that do?
(defun my/list-properties-inherit ()
(seq-filter
#'cdr
(mapcar
(lambda (p) (cons p (org-entry-get (point) p t)))
(org-buffer-property-keys))))
Unfortunately, org-entry-properties' doesn't respect
org-use-property-inheritance', but `org-entry-get' does if the third parameter is t.
As for querying a header, (org-find-property "ID" ) is an option (value is a string). But you'll probably need Adam Porter's `org-ql' for anything more advanced.
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text/gemini
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