...then also have the ability to queue or choose that song to play next

That part you can do.

Once you find the song you want to play next (whether through the Search function or just digging down through playlists) press-and-hold the bottom button on the front panel. This will bring up a menu with options to enqueue, insert, and a couple of other things. Just highlight "insert" and press the bottom button and that song will be next up.

tanstaafl.