I would do it manually, I don’t recommend the following. There is a very hacky way to do it. You can modify the example in How to display chapter numbers in PDF bookmarks? - #4 by bluss from @Y.D.X and @bluss.
#import "@preview/titleize:0.1.1": string-to-titlecase, titlecase
// Remove original headings from bookmarks. We will add new ones later.
#set heading(bookmarked: false)
#show heading: it => if it.numbering == none {
// This heading has been processed. Keep it untouched.
it
} else {
let (numbering, body, ..args) = it.fields()
let _ = args.remove("label", default: none)
// Render the numbering manually
let numbered-body = block({
counter(heading).display(numbering)
[ ] // space in the bookmark
string-to-titlecase(body.text)
})
// regular heading
it
// Add our bookmarked, hidden heading
show heading: none
heading(..args, outlined: false, bookmarked: true, numbering: none, numbered-body)
}
#show heading: titlecase
#set heading(numbering: "I.I")
#outline()
= simple heading
== simple heading2
= simple heading3