iPad touch command to find first heading and at the same time change to headings option in the rotor?

Unfortunately, there isn't a way to create gestures like that.

The first suggestion is obviously make sure the heading navigation option is near the start or, I guess the end of your rotor so you won't have to go through too many options to get to it.

My second suggestion is, try to find a couple of voiceover gestures you don't use or that aren't used and assign previous and next header to those.

For me it was easy, I use flat navigation mode, not group, so I assigned two finger flick left and right to this. There certainly aren't many options, but it's worth a try.

I just made sure to specify the navigation thing because if you suddenly couldn't navigate in and out of toolbars and such you'd get very confused, ☺️.

I created that gesture just before they added the new navigation mode and put up with no header navigation gesture while I tried to make myself use the new thing. Nope, didn'twork with the way I use an iPad so I put it back ☺️.

Setup a custom gesture for headings that is universal. i.e. I have mine, on my iPhone, setup so that a 2 finger swipe up and down goes to previous and next heading respectively. A 2 finger swipe left or right goes to previous and next control respectively. You can, of course, choose just about whatever gesture you want. Those are just mine.

And in case someone decides to comment on this, why yes, I "do" have read command gestures, mine are just "different" from the default. 🤨