We present a search for the pair production of Higgsinos in final states with large missing transverse momentum and either two reconstructed muons or a reconstructed lepton (muon or electron) and an isolated track. The analyzed data correspond to proton-proton collisions with an integrated luminosity of 137 fb$^{-1}$, collected by the CMS experiment at $\sqrt{s}$ = 13 TeV in 2016, 2017, and 2018. The signal scenario assumes two neutralino states, $\widetildeχ^0_2$ and $\widetildeχ^0_1$, with a small mass difference in the range 1$-$10 GeV and a chargino $\widetildeχ^\pm_1$ with an intermediate mass. The analysis focuses on the decay of the heavier neutralino into the lighter one and a virtual Z boson, which decays into two same-flavor leptons. The leptons have small transverse momentum and/or a small opening angle between the identified muons. An isolated track is used to recover events in which only one of the two leptons is identified. Multivariate discriminants are used to enhance the sensitivity by efficiently rejecting backgrounds from SM processes or misreconstructed tracks and/or leptons. The search explores a unique phase space and probes a previously unexplored region of the signal model parameter space. Mass differences between the two neutralinos are probed down to 1.5 GeV, assuming a Higgsino mass of 100 GeV. The maximum excluded Higgsino mass is 115 GeV.