Opening terminal links with the keyboard

One of the very useful things about urxvt is that I could use keyboard shortcuts to navigate through and open hyperlinks that appeared on the terminal screen (by adding some urxvt* entries on .Xresources, IIRC). Now I'm on xfce4-terminal and am missing this functionality. I took a look at ~/.config/xfce4/terminal/accels.scm but couldn't find anything relevant. For the moment, I'm stuck to having to grab my mouse and Ctrl+click the terminal URLs I want to open in the browser, which is quite disruptive to my workflow. Question: **is it possible to select and open URLs printed on the xfce4-terminal just using the keyboard?** I'd be glad to hear about other terminal emulators that offer this functionality, but I don't intend on going back to urxvt for the moment.