How I can dynamically create my left side navigation links in a hierarchical manner

I am working on a subsite of type Team site. And inside this subsite I have two lists:

1. Departments
2. Assets
3. Where inside the Assets list I have a lookup column (which is single value + Required) referencing the Departments list

Now I want a way to dynamically list my Department and Asset as follow, inside the left side navigation links:-

And as users add/edit/delete new departments and new assets, the left side navigations links should be modified accordingly.

I am on SharePoint 2013 on-premise ,, so I have full control over my farm . So can anyone advice on this please?

Thanks