I have this in my zshrc. Hopefully it is helpful to others:

  # tab completion
  setopt hash_list_all
  # https://stackoverflow.com/a/14900496/8514646
  bindkey '^i' expand-or-complete-prefix
  # by category
  # https://old.reddit.com/r/zsh/comments/6l797o/organizing_co mpletions_by_category/
  # https://github.com/sorinionescu/prezto/blob/master/modules/completion/init.zsh#L60
  zstyle ':completion:*:*:*:*:*' menu select
  zstyle ':completion:*:matches' group 'yes'
  zstyle ':completion:*:options' description 'yes'
  zstyle ':completion:*:options' auto-description '%d'
  zstyle ':completion:*:corrections' format ' %F{green}-- %d (errors: %e) --%f'
  zstyle ':completion:*:descriptions' format ' %F{yellow}-- %d --%f'
  zstyle ':completion:*:messages' format ' %F{purple} -- %d -- %f'
  zstyle ':completion:*:warnings' format ' %F{red}-- no matches found --%f'
  zstyle ':completion:*:default' list-prompt '%S%M matches%s'
  zstyle ':completion:*' format ' %F{yellow}-- %d --%f'
  zstyle ':completion:*' group-name ''
  zstyle ':completion:*' verbose yes
`