Higgsinos with masses near the electroweak scale can solve the hierarchy problem and provide a dark matter candidate, while detecting them at the LHC remains challenging if their mass-splitting is $\mathcal{O}$(1 GeV). This Letter presents a novel search for nearly mass-degenerate higgsinos in events with an energetic jet, missing transverse momentum, and a low-momentum track with a significant transverse impact parameter using 140 fb$^{-1}$ of proton-proton collision data at $\sqrt{s}$ = 13 TeV collected by the ATLAS experiment. For the first time since LEP, a range of mass-splittings between the lightest charged and neutral higgsinos from 0.3 GeV to 0.9 GeV is excluded at 95% confidence level, with a maximum reach of approximately 170 GeV in the higgsino mass.
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