What you are writing about is faceted navigation. I have been doing SEO and marketing for 10+ years. WooCommerce functionality is limited and implementing something like this in full is not possible (only partially possible) in any theme. This requires more than one programmer and significant changes to the site code.
You can create archives for filters terms using attributes archives; Woodmart Layouts allow to create template for these pages, I did like this.
EM Yes, but if the filters are made like I am suggesting there will be no duplicate content issue. Right now there is a duplicate content issue with the ?filter page and the filter archive page.
Gencho Tanev duplicate content can happen just if you index filter results; usually parameters with ? are blocked in robots.txt to avoid it and it's correct also for crawl budget. Using attribute archives you can easily decide what to index instead of index so many useless pages for users (for example, some filters may generate a couple of products, they will never rank with filter page). I agree it can be good in some cases if you have a lot of products, so, for example, you want to have /shoes/pink/ instead of /shoes/?filter_color=pink or choose a custom url (/pink-shoes/). I did something like this creating custom urls with Jet Filters plugin in the past. It may be a good inspiration for what you are asking for. It would be amazing for SEO because it's not going to index all pages with filters, but just those that have custom urls.
I think a better approach is to have attribute and filter popups where we can place SEO optimised content. Place an '¡' icon next to the attribute on product page. When clicked open a popup or off canvas container, with text about the attribute or filter.