Custom posts – display hierarchical posts inside hierarchical taxonomies

There is a possibility to create custom post types with both a hierarchical post type (like pages) and hierarchical taxonomies (like category). However, there doesn’t seem to be any non-coder level option of actually displaying them.

I would like to list these in Collapsing Categories so that it respects their hierarchical taxonomy (custom category) but also uses the post hierarchy (custom page type) to list them. I could write and display entire books like this! 🙂