For now I have decided to use a CSS solution. I realized with the code above I do actually have classes I can work with. For example if you had this navigation in a you could use something like this.
nav.sidebar li li li {
display: none;
}
nav.sidebar li li.current_page_item > ul > li, nav.sidebar li li.current_page_ancestor > ul > li {
display: block;
}
While not ideal, it gets the job done.
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