As far I know, there's no such extension providing a ready-made set of helpers for BDD in Codeception.
If I may, I can see in your code that for each module assertion you've created a Gherkin snippet. But wouldn't that been more flexible to just build a factory that would do it on the fly?
Then I should see link "link"
would then be captured by a pre-processor that would just translate
I should see link to camel case function
seeLink and call this method if it exists amongst the dependencies declared, ie WebDriver in this case. In the case of the method does not exist in a declared dependency, then back to normal Gherkin snippet identification.
I might be able to give a hand once I am done with the Graphwalker extension.