What is the best way to build a sidebar navigation menu?

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I need to build a sidebar nav menu like this:

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[sidebar nav menu])

The only way I can think to do it is to find the first ancestor, then write a function that finds all descendants in order. Is there a better/easier way? It’s my first time building something like this but I feel like it’s common enough that there’s probably efficient code/method out there somewhere. I just can’t seem to find it. Any help is appreciated. Thanks.

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