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How to make fixed menu change on scroll?

Can anyone provide guidance on how to prototype a side menu that changes appearance on scroll? I want to replicate an effect where the side menu lists different sections on that page and it stays fixed as you scroll to the different sections, but each choice on the side menu changes color when it’s selected.

I tried hacking it by fixing the side bar, then creating a “scroll to” effect on clicking a certain option in the side bar. Then when the mouse enters that section of text, the prototype navigates to a new board with the new option on the side bar highlighted. But the change happens too slowly. Are there better ways to create this effect?

I tried looking for the answer in the forum and couldn’t find it. Thank you.

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