YITH WooCommerce Category Accordion Premium:

The YITH WooCommerce Category Accordion plugin lets you create a widget with few clicks in order to list the categories of the products for sale in the sidebars of your e-commerce.

Thanks to the accordion feature, you will be able to show all categories and subcategories without visually weighing down the page, and making the navigation easier for your shop customers.

Following your needs, you can display how many products a category holds, hide the empty categories, decide to show by default the accordion closed or opened, and many more options.