Checkout this Camera library: GitHub - yomotsu/camera-controls: A camera control for three.js, similar to THREE.OrbitControls yet supports smooth transitions and more features.
In most like this Basic Demo is an option to “Dolly to cursor” which is what you’re describing.
It has a TON of other features too so if you’re trying to match an experience from another app/environment I’d think about using it.
Things like bounding boxes, dolly vs zoom, etc etc. Even collision detection is a built in opton
You can of course do it all manually,