Dynamically display categories that a post belongs to and other posts

I want to build a dynamic menu on a single post page that will show all the categories that the single post belongs to.

I want the categories to be main menu items. Under those main menu items, I want to list the posts (as links) within each of those categories, including the post I’m currently on. It would be nice if the post I’m currently on is highlighted.

Finally, I’d like to list any sub-categories of the main categories that the single post is in and do one level of posts links from those sub-categories.

I’m a php noob and could use some advice.

I don’t want to “hard code” ids. I’d rather that the function was smart enough to figure out what category it’s currently in from a single post page.

Thank you for reading my post.