slide-in top menu on scroll

Hello

I am looking for a way to have a top menu bar to show on scroll

The scenario is quite common and it goes like this

I have a big full-height hero section with menu items floats on the BG.

Now when you scroll the menu items stick to the top but all the rest of the page is scrolling underneath it, so an opaque solid color bar is needed. this is something you see all over the web for years so why it is impossible on XD.

Is there a workaround or some kind of solution to deliver this kind of UI to my client