After much digging, I think I can answer my own question. It looks like the OverhangPanelSetScene component is the way to go. In the github Roku samples project, I did find an example of something that would show what I wanted to implement.
There is a deployable app/zip file (AdvancedRowList.zip) in the "lists and grids" folder which demonstrates how to implement the Roku main interface with sliding panels.
It's a good demo including source code on how to do it (I am glad that there is an example, because although in the end it is not a lot of code, there are a lot of moving pieces to make it "work").
