You can adjust your canvas panel animation type by going to Appearance > Styles > XenForo - UI.X > Style Property Groups > [UI.X] Canvas Panels. You can choose between push, reveal, or cover. You can customize the length of this motion by changing your Panel Animation Duration can be entered in milliseconds.
By default, panels only appear under a certain screen size, and require the user to click a trigger for them to appear. To have the panel always visible, you can check Display Right Panel On-Canvas for both or either the right and left panels. On-Canvas panels become off-canvas panels at certain viewport widths (due to the lack of screen space.) To change the width at which on-canvas panels become off-canvas panels, edit the On-Canvas Panel Breakpoint style property.
Canvas - Panel NavigationCanvas - Panel SidebarCanvas - Panel Visitor TabsCanvas - Panels