Responsive menu in sidebar

This might be not Generatepress related, but you guys often know how to solve things the good way so I'll try at least to ask the question.

I would like to have a nestled menu in a sidebar that pops out when hovering over them and folds back again when the mouse is being lifted. Can this be done in a sidebar widget the Generatepress-way (hooks and scripts and that stuff)? There might be a simple solution already? This is for products and categories in WooCommerce.

Thanks
Lars