Have you considered using services like https://wheregoes.com/ to fetch the final destination and navigate?
The annoying part is having to copy the link, navigate to the website, paste in the link etc.
I was looking for something more "seamless" and works cross device (e.g. on phone, in the Twitter app etc) not just browsers. With this you just click the t.co link and the result is there instantly.
It's a dumb solution but was fun to write.