Inspired by this thread, I decided to try to mimic Maya style selection, that is, instead of 3 steps; Exit Edit Mode, Select Object, Enter Edit Mode, do it in only one; fling mouse to one side in Pie Menu (Vertex,Edge,Face,Object) and directly enter into Edit Mode of object under the cursor.
Looks like the ray_cast operator is not as robust so selection is very erratic. In any case, if you want to try or improve upon it go ahead and post your results, I have no experience on developing for Blender so surely something better can be done.
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