diff --git a/browser/components/sessionstore/SessionStore.sys.mjs b/browser/components/sessionstore/SessionStore.sys.mjs
index f0929e16a3fe..d1380761eb3b 100644
--- a/browser/components/sessionstore/SessionStore.sys.mjs
+++ b/browser/components/sessionstore/SessionStore.sys.mjs
@@ -5646,32 +5646,10 @@ var SessionStoreInternal = {
    *        Object containing command (sidebarcommand/category) and styles
    */
   restoreSidebar(aWindow, aSidebar, isPopup) {
-    if (!aSidebar) {
+    if (!aSidebar || isPopup) {
       return;
     }
-    if (!isPopup) {
-      let sidebarBox = aWindow.document.getElementById("sidebar-box");
-      // Always restore sidebar width
-      if (aSidebar.width) {
-        sidebarBox.style.width = aSidebar.width;
-      }
-      if (
-        aSidebar.command &&
-        (sidebarBox.getAttribute("sidebarcommand") != aSidebar.command ||
-          !sidebarBox.getAttribute("checked"))
-      ) {
-        aWindow.SidebarController.showInitially(aSidebar.command);
-      }
-      aWindow.SidebarController.uiStateInitialized = true;
-    }
-    if (aWindow.SidebarController.sidebarRevampEnabled) {
-      const { SidebarController } = aWindow;
-      SidebarController.promiseInitialized.then(() => {
-        SidebarController.toggleExpanded(aSidebar.expanded);
-        SidebarController.sidebarContainer.hidden = aSidebar.hidden;
-        SidebarController.updateToolbarButton();
-      });
-    }
+    aWindow.SidebarController.setUIState(aSidebar);
   },
 
   /**
diff --git a/browser/components/sidebar/browser-sidebar.js b/browser/components/sidebar/browser-sidebar.js
index ad8f3b2c34fb..e95aa93e912d 100644
--- a/browser/components/sidebar/browser-sidebar.js
+++ b/browser/components/sidebar/browser-sidebar.js
@@ -484,10 +484,18 @@ var SidebarController = {
     if (!state) {
       return;
     }
+    const shouldOpenSidebar =
+      state.command &&
+      this.sidebars.has(state.command) &&
+      this.currentID !== state.command;
+    if (shouldOpenSidebar) {
+      // there's a sidebar to show, so ignore the contradictory hidden property
+      delete state.hidden;
+    }
     if (state.width) {
       this._box.style.width = state.width;
     }
-    if (state.command && this.currentID != state.command && !this.isOpen) {
+    if (shouldOpenSidebar && !this.isOpen) {
       await this.showInitially(state.command);
     }
     if (this.sidebarRevampEnabled) {
@@ -1480,6 +1488,7 @@ var SidebarController = {
   _show(commandID) {
     return new Promise(resolve => {
       if (this.sidebarRevampEnabled) {
+        this.sidebarContainer.hidden = false;
         this._box.dispatchEvent(
           new CustomEvent("sidebar-show", { detail: { viewId: commandID } })
         );
diff --git a/browser/components/sidebar/tests/browser/browser.toml b/browser/components/sidebar/tests/browser/browser.toml
index 42127adb6ca9..80dce395e77c 100644
--- a/browser/components/sidebar/tests/browser/browser.toml
+++ b/browser/components/sidebar/tests/browser/browser.toml
@@ -28,6 +28,8 @@ run-if = ["os == 'mac'"] # Mac only feature
 
 ["browser_sidebar_max_width.js"]
 
+["browser_sidebar_menubar_item_commands.js"]
+
 ["browser_sidebar_nimbus.js"]
 
 ["browser_sidebar_panel_header.js"]
diff --git a/browser/components/sidebar/tests/browser/browser_sidebar_menubar_item_commands.js b/browser/components/sidebar/tests/browser/browser_sidebar_menubar_item_commands.js
new file mode 100644
index 000000000000..bae731958adc
--- /dev/null
+++ b/browser/components/sidebar/tests/browser/browser_sidebar_menubar_item_commands.js
@@ -0,0 +1,61 @@
+/* Any copyright is dedicated to the Public Domain.
+   https://creativecommons.org/publicdomain/zero/1.0/ */
+
+"use strict";
+
+const SIDEBAR_VISIBILITY_PREF = "sidebar.visibility";
+
+add_setup(async () => {
+  await SpecialPowers.pushPrefEnv({
+    set: [[SIDEBAR_VISIBILITY_PREF, "hide-sidebar"]],
+  });
+  // make sure the sidebar is reset after we're done
+  registerCleanupFunction(async () => {
+    await SidebarController.toggleExpanded(false);
+    await SidebarController.sidebarMain.updateComplete;
+    SidebarController.sidebarContainer.hidden = false;
+  });
+});
+
+add_task(async function test_sidebar_view_commands() {
+  const sidebar = document.querySelector("sidebar-main");
+  const sidebarBox = document.querySelector("#sidebar-box");
+
+  await sidebar.updateComplete;
+  ok(sidebar && BrowserTestUtils.isVisible(sidebar), "Sidebar is shown.");
+
+  // turn off animations for this bit
+  await SpecialPowers.pushPrefEnv({
+    set: [["sidebar.animation.enabled", false]],
+  });
+
+  document.getElementById("sidebar-button").doCommand();
+  await sidebar.updateComplete;
+  ok(BrowserTestUtils.isHidden(sidebar), "Sidebar is hidden.");
+
+  const bookmarkMenuItem = document.getElementById("menu_bookmarksSidebar");
+  bookmarkMenuItem.doCommand();
+  await sidebar.updateComplete;
+
+  ok(BrowserTestUtils.isVisible(sidebar), "Sidebar is visible");
+  ok(BrowserTestUtils.isVisible(sidebarBox), "Sidebar box is visible");
+  is(
+    SidebarController.currentID,
+    "viewBookmarksSidebar",
+    "Sidebar controller has the correct currentID"
+  );
+
+  SidebarController.toggle(SidebarController.currentID);
+  await sidebar.updateComplete;
+  ok(BrowserTestUtils.isVisible(sidebar), "Sidebar is visible");
+  ok(sidebar.expanded, "Sidebar is expanded when the view is closed");
+  ok(BrowserTestUtils.isHidden(sidebarBox), "Sidebar box is hidden");
+
+  document.getElementById("sidebar-button").doCommand();
+  await sidebar.updateComplete;
+  ok(BrowserTestUtils.isHidden(sidebar), "Sidebar is hidden.");
+  ok(BrowserTestUtils.isHidden(sidebarBox), "Sidebar box is hidden.");
+
+  // restore the animation pref
+  SpecialPowers.popPrefEnv();
+});
diff --git a/browser/components/sidebar/tests/browser/browser_toolbar_sidebar_button.js b/browser/components/sidebar/tests/browser/browser_toolbar_sidebar_button.js
index 7c61585c842e..acc86fae8580 100644
--- a/browser/components/sidebar/tests/browser/browser_toolbar_sidebar_button.js
+++ b/browser/components/sidebar/tests/browser/browser_toolbar_sidebar_button.js
@@ -40,6 +40,15 @@ add_setup(async () => {
     0,
     "sidebar-button"
   );
+  if (window.SidebarController.sidebarMain?.expanded) {
+    info("In setup, the sidebar is currently expanded. Collapsing it");
+    window.SidebarController.toggleExpanded(false);
+    await window.SidebarController.sidebarMain.updateComplete;
+  }
+  ok(
+    BrowserTestUtils.isVisible(window.SidebarController.sidebarMain),
+    "Sidebar launcher is visible at setup"
+  );
 });
 
 add_task(async function test_toolbar_sidebar_button() {
@@ -66,14 +75,19 @@ add_task(async function test_toolbar_sidebar_button() {
 });
 
 add_task(async function test_expanded_state_for_always_show() {
+  info(
+    `Current window's sidebarMain.expanded: ${window.SidebarController.sidebarMain?.expanded}`
+  );
   await SpecialPowers.pushPrefEnv({
     set: [[SIDEBAR_VISIBILITY_PREF, "always-show"]],
   });
   const win = await BrowserTestUtils.openNewBrowserWindow();
-  const {
-    SidebarController: { sidebarMain, toolbarButton },
-    document,
-  } = win;
+
+  const { SidebarController, document } = win;
+  const { sidebarMain, toolbarButton } = SidebarController;
+
+  await SidebarController.promiseInitialized;
+  info(`New window's sidebarMain.expanded: ${sidebarMain?.expanded}`);
 
   const checkExpandedState = async (
     expanded,
@@ -110,6 +124,10 @@ add_task(async function test_expanded_state_for_always_show() {
 
   info("Check default expanded state.");
   await checkExpandedState(false);
+  ok(
+    BrowserTestUtils.isVisible(sidebarMain),
+    "The sidebar launcher is visible"
+  );
   ok(
     !toolbarButton.hasAttribute("checked"),
     "The toolbar button is not checked."
@@ -122,7 +140,7 @@ add_task(async function test_expanded_state_for_always_show() {
   await checkExpandedState(false);
 
   info("Collapse the sidebar by loading a tool.");
-  sidebarMain.expanded = true;
+  SidebarController.toggleExpanded(true);
   await sidebarMain.updateComplete;
   const toolButton = sidebarMain.toolButtons[0];
   EventUtils.synthesizeMouseAtCenter(toolButton, {}, win);
@@ -133,7 +151,7 @@ add_task(async function test_expanded_state_for_always_show() {
   await checkExpandedState(true);
 
   info("Load and unload a tool with the sidebar collapsed to begin with.");
-  sidebarMain.expanded = false;
+  SidebarController.toggleExpanded(false);
   await sidebarMain.updateComplete;
   EventUtils.synthesizeMouseAtCenter(toolButton, {}, win);
   await checkExpandedState(false);
@@ -141,7 +159,7 @@ add_task(async function test_expanded_state_for_always_show() {
   await checkExpandedState(false);
 
   info("Check expanded state on a new window.");
-  sidebarMain.expanded = true;
+  SidebarController.toggleExpanded(true);
   await sidebarMain.updateComplete;
   const newWin = await BrowserTestUtils.openNewBrowserWindow();
   await checkExpandedState(