Linux cd .. command
Solution 1:
The classic way of doing this is setting the CDPATH variable. In your case it could be set to .:../../../../ or .:/path/to/the/parent/of/foo to achieve the desired effect. You can then simply do cd foo/sub1/bar/dest and get to where you want.
The advantage of this is that tab completion for cd also looks at $CDPATH and will magically work.
Solution 2:
You can use autojump which automatically learn from previous cd command and you only need to specify unique string from full path next time. ex.
j foo,
j foo1,
j foo2