You can expand the full name of a file or directory using a character of your choice.

Close all Command Prompts
Start the Registry Editor
Open HKEY_CURRENT_USER\Software\Microsoft\Command Processor
If not present, add Key: CompletionChar
If you like to use TAB-Key for expand: set value (REG_SZ): "9"
You can test it:

Open up a DOS window
Type: CD (followed by TAB)
The first available directory will appear
Press TAB again, the next one will appear
The same can be done with the DIR command