Is it possible to Animate button with additional action?

Help!

Is it possible to create an animated burger icon (with open and closed states), that when tapped, not only transitions to it's open state – but also allows a navigation element to slide in as an overlay?

I can't figure out how to add this additional action or even if it's possible. Maybe it could be that it's a timed action that occurs a split second after the tap initiates the transition to its open state but I'm not sure how.

Thanks in advance for any help!

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