A Minimal Book Example (Tufte Style)

I've been trying to use the tufte style html book (bookdown::tufte_html_book) so that I can get the margin and side notes. But in doing that I lose the table of contents pane on the side. When I do enable the table of contents (toc:True), I get a table of contents at the top of each page. Is it possible to have a hovering table of contents with the tufte style?

The Minimal Book Example (Tufte Style) for instance has a bar at the top. How does one achieve that?

It is possible that the top menu is a custom to the demo and using this CSS file:

It may come from there

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