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Think that will do the trick for you.
There was an older mod called RimSearch that definitely did that, but don't think it was updated recently. I believe the one I linked to above does about the same thing but with a different interface.
edit: ok, correct link now
@Mike and Dragon: I already mentioned that I don't have time to do that, but thanks anyways ;)
I line the outside of my main storage with shelves for weapons/mortar shells. I auto-smelt/destroy anything of normal or less quality for weapons/armor - so I dont get overloaded (and dont get higher raids than necessary).
Oh, great to see that did finally get updated!
If you prefer not to have a 'myriad of mods', vanilla can find one object easy :
1. Form Caravan with one pawn + item.
2. Select pawn on map, follow white path to item.
Since the pawn can carry the item, nobody else should grab it to load caravan.
EDIT : ... oh ... step 3, cancel caravan loading (but you knew that).. :P
EDIT #2 : ... Choose the pawn you want to pick it up anyway... :)
Haha ... I added the part about cancelling the caravan because ... cough,cough ... I've forgotten if an event pops up to distract me (yes, I've left animals locked in their room until they starve too!).
BTW ... You can use that procedure to find and pickup more than one item (obviuosly), just as long as you don't exceed the carry capacity (even more obvious, yes). Here's the cool part ... After picking up everything you can't find, cancel the caravan and the pawn will unload the items into an appropriate location. So if you just built some new shelves (lets say) with the correct priority, then, bada-boom we can guess where he/she is gonna drop them off next (all else considered equal in the stockpile department).
AND ... Pausing the game first, selecting pawn, forming caravan then going back to the map you can select the 'caravan tab', then hover mouse over items needing loading and you should see a big fat white arrow (or many) pointing to the items.
gee-wizz kinda stuff actually ... ENJOY! (don't forget to cancel caravan!...haha)
You can see how using the caravan method can expedite reorganization. Pretend the muffalo is a storage box, load the storage box, then unload ... Of course, after you set up appropriate stockpiles. That's like a worse case scenario though, but it does sound like your base is ... ahem ... in need of a spring cleaning! :P ... Oh, pretend the muffalo is a RoomBa, if you want.
And, one more tip (if you didn't know) .... Same method works for transport pods. All that junk (150kg) can be shoved into the pod for safe keeping ... Press the cancel button and it all falls out ... AND (most important part) ... don't accidently launch the pod!! (yes, I did a double doh click and watched my stuff go into never-never land).