You can enable Navigation Assistance and Enhanced Listen Mode in the Accessibility menu, found at the below menu pathways:
Options > Accessibility > Navigation and Traversal > Navigation Assistance [Off/On]
Options > Accessibility > Navigation and Traversal > Enhanced Listen Mode [Off/On]
- Additional options available for tuning Scan Range and Scan Time
With both enabled, you can hold R1 to enter Listen Mode and then press Square to scan for enemies or Circle to scan for pickups.
Pressing L3 while in Listen Mode will now direct players toward the most recently scanned enemy.