Open cart sidebar on element click

Is there a way to call the floating cart (or other trigger element) via shortcode or php function and put it in the header?

I want to fix it in the header (mobile + desktop). I also want when i click on this item, the sidebar basket to open and the user to complete the order.

Currently, the floating cart hides elements on mobile and it’s a bad user experience. I also tried the “cart in menu” function, but again it’s inconvenient. Clicking on it takes me to the basket / checkout, does not open the sidebar basket. It seems strange to me that such a setting is missing, to be honest …

Thanks!