Yes. I've never directly used sftp before, but checking the man page it does seem like it would fit the flow I described well.

Idk when you stopped using scp, but scp has been deprecated, and at least w/openssh, using sftp under the hood for years now. You probably have used it if you've scp'd since 2020.

My point above was that I was making and killing multiple SSH connections to find where I want to copy a file, and then do the copy. Using SCP with an SFTP backend would still do that.