Single-shot EPI is widely used for diffusion imaging, but suffers from susceptibility-induced distortion and T2* blurring, which limit its resolution and ability to detect detailed structures. PSF-encoded EPI with an added 2D-navigator has recently been developed to allow distortion- and blurring- free diffusion imaging. However, the extremely long acquisition of PSF-EPI makes it impractical for high angular resolution diffusion imaging. In this work, PSF-EPI is accelerated by >20x using a novel “tilted-CAIPI” approach, along with self-navigation strategy. This has enabled distortion- and blurring-free diffusion imaging at 1.2mm isotropic to be acquired with 48 diffusion directions in 21-minutes for whole-brain.