Adanced block tunes in sidebar

I am looking to add some block tunes to a sidebar (similar to what WordPress provides in their block editor). This would make editing blocks much quicker and with less clicks. Especially if it would be possible to open the block tunes in the sidebar once a block is selected (or the cursor is within that block).

It would also be great if that current block can keep its selected class for good user interaction:
Currently I open a modal in which I render a form with the more advanced block tune settings. However once I open that modal from the block tunes menu, the block on which I opened the modal, is visualluy being deselected, so the feedback to the user becomes less clear which block they are actually editing.