Proprioception and muscle memory are intimately linked. If you do not want to use Tim's "musical" method - perhaps you want to always be able to move from 3rd fret to 15th fret for example, and not have to look - then I think there is only one solution:
PRACTICE!
On stage I wear a mask that severely limits my ability to look downwards, and I have a few songs where I need to quickly be able to hit a fret accurately, so worked through my two options. One being to slide up to the required fret - reasonably easy, as I can hear the right note.
But for some songs a slide is not what I want, so I had to learn how to move my hand to exactly where I wanted it, and quickly. My practice scenario was to play an A shape at the nut then 12th fret, then 1st fret, then 13th fret etc., so 12 fret jumps, then did the same with an E shape etc. And then I did the same with 9 fret jumps, and 7, and 5. Anything less than that is simply a flex of the wrist/hand.
Once I was really comfortable with those, I brought in changing chord shapes during the jump.
I know you mention single notes, but the principle is exactly the same - and it works for both.
Admittedly the first few thousand attempts were a bit hit and miss, but you improve rapidly, even though my different guitars have different neck shapes. All had the same scale length, which helped.