Have one menu for desktop, a different menu for offscreen

I have a sidebar with a menu on my desktop version. However the sidebar disappears on tablet and mobile.

I would like to have one menu as the header in the banner on desktop only. Then have a second, completely different menu when it switches to mobile.

So on a desktop, it shows the Header Navigation “Header Menu” of Item 1, 2 and 3 on desktop.
On the offscreen panel for mobile and tablet, it shows the Offscreen “Mobile Menu” with buttons 1, 4, 5 and 6.

I’ve tried creating 2 menus on desktop banner, and using “responsive” to show and hide it. But whatever I change the offscreen panel to, that menu appears on the desktop.