In org mode when I hover over a link, I get a tooltip that shows the target of the link. But I'd like to see the target when I just move point onto a link, either as a tooltip or in the minibuffer. For example, with:

* a headline
and a [[https://orgmode.org/][link to orgmode.org]]. And an internal link
[[id:20191211T100231.972516][to a headline in this file]].

* another headline with an ID property
  :PROPERTIES:
  :ID:       20191211T100231.972516
  :END:
content

If point is somewhere in the "link to orgmode.org" text, I'd like to see something like LINK: https://orgmode.org displayed in the minibuffer, or as a tooltip. Similarly for the internal link: it would be cool if the displayed text actually went and looked up the headline title and displayed LINK: "another headline with an ID property"

Is there a way to do this?