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To add category in sidebar menu, please follow the following steps.
Step 1
From the Appearance menu on the left-hand side of the WordPress Dashboard, select the Menus option to bring up the Menu Editor.
See Screenshot
Step 2
Under Menu Items, click the pane entitled Categories.
See Screenshot
Step 3
Within this pane Categories, Select your desired categories that you want to add by clicking the checkbox next to each Category’s title and click the Add to Menu button located at the bottom of this pane to add your selection(s) to the AMP Sidebar menu.
See Screenshot
Step 4
Under Menu Settings, Select AMP Sidebar Menu and Click Save Menu button once you’ve added all the menu items you want.
See Screenshot
Your custom menu has now been saved.
Let us know if you have any questions.
Thanks