Actually, I think what you want is to just eliminate the hover state. To do this, you will need to find the hover codes in style sheet, copy them to your child theme style sheet (or custom css) and make them match the default state for the menu.
It’s going to take some knowledge of CSS and a bit of digging through the style sheet.AdminMod
It’s pretty awesome if done right, but here’s an example for onclick drop down menu:
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