Is There A Way to switch between multiple windows (one of the windows maybe in background) of the same app via shortcuts?

I've been searching for a solution for a long time without success. I want to use keyboard shortcuts to quickly switch between two windows of the same application (especially Arc Browser). I know Command + \~ partially works, but it only functions when both windows are in the foreground. If one window is in the background, there's no way to bring it forward using this shortcut.