There is no OOTB API for this. You need to use pxChangeStage API along with combination of skip whens for steps.

Let us know if this helps.

We can't jump from one step another unlike stage, however, we have step level when condition we can use skip

https://collaborate.pega.com/discussion/jumping-between-stages-and-steps-under-different-stages

You can absolutely jump from one step to another step if it is within the same Process/Flow.

Using Tickets, we can configure this.

Here the steps:

1. Records-> Process-> Ticket(Ticket is just like a GOTO in Java, you're telling to go to that Place).

2. Open the source Assignment Flow Action, call a Post Processing Activity with just a single step of method Call SetTicket and refer your ticket there.

3. Just open the Destination Assignment shape in the Flow and Call the ticket in it.