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You can add a position anywhere you like on the layout of your outline. No, you can't have it like offcanvas as that is a special SECTION rather than position for which special code is written to make the panel appear/disappear.
Regards, Mark.
Please search forums before posting. Please make sure your post includes the version of the CMS you are using and a link to the problem. Annotations on screenshots can also be helpful to explain problems/goals. Please use the "secure" tab for confidential information.