When I click on a bar of a PanelBar I both select the option as well I toggle it (open / close). Is it possible not to open it but just select and click on the icon for controlling open/close?
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I am afraid this is not supported. As a partial work-around you can make the PanelBar expand and select only by clicking the expand arrow like this:
Unfortunately there is much more logic to be handled to just select (highlight the item) without expanding it.