Here is a somewhat close codepen of what I ended up with: http://codepen.io/anon/pen/KJCie
Here is a repo with some instructions on how to do this for the sidemenu seed project: https://github.com/gylippus/ionic-drawer
I’m first to admit that it is all pretty “hacky”, but it is a step in the right direction.
Can be seen live in this app which Google Play just signed off on for approval after many emails and many tweaks for a more Android feel to meet all of their requirements including a drawer that acts like this. https://play.google.com/store/apps/details?id=sworkitapp.sworkit.com&hl=en