org-roam file names are configurable (see org-roam-template slug formation), by default are ctime timestamp followed by note title stripped of eventual special char/spaces. Beside that personally when I need more than just direct heading search&narrow and org-ql is overkill a simple counsel-rg (or consult, helm etc depending on your taste) works very well so I'm feeling exactly no need to access notes via filesystem.

Actually using org-attach and linking I essentially chased to use the classic filesystem + file manager for almost all my in-home activities, everything is accessed via org-roam-node-find and works beautifully well.