In baritone, you can use #click to enter click mode.
In this, your mouse is free and you can select areas and goals in the world with your mouse.
With this mod installed, however, the world is blurred during click mode, defeating the point.

Baritone click mode should thus likely be added to the default Blur Exclusions config.
A problem is that baritone is minified/obfuscated by default.
The unminified class name to the blur should be baritone.utils.GuiClick. In my minified installation (baritone-api-fabric-1.9.4 for 1.19.2), the class is baritone.eo. Adding the latter to the blur exclusions solves the issue, but the name is probably going to change often (?).

From my knowledge, baritone has no real UIs, so perhaps excluding baritone entirely is the best option.