So...
Depending on which template you're using, your sidebar titles may not be defined as
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<span class="serendipitySideBarTitle">Title</span>
but as
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<h3 class="serendipitySideBarTitle">Title</h3>
You can just alter line 133 of serendipity_plugin_category_dhtml_menu.php from
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$cat_nodes[0] = new HTML_TreeNode(array('text'=>'<span class="serendipitySideBarTitle">'.$this->get_config('title', $title).'</span>'));
to
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$cat_nodes[0] = new HTML_TreeNode(array('text'=>'<h3 class="serendipitySideBarTitle">'.$this->get_config('title', $title).'</h3>'));
and you should have the same look. (I noticed this behavior in Carl Contest/s9y v3.0 template, I don't know that it is universal.)
As for setting up the TreeMenu categories plugin, a few things I did to make it work:
(Pear was already installed)
pear install HTML_TreeMenu
mkdir $WEBSERVER_HTDOCS$/serendipity/bundled-libs/HTML_TreeMenu
cp -R $PHP_LIB$/data/HTML_TreeMenu/ $WEBSERVER_HTDOCS$/serendipity/bundled-libs/HTML_TreeMenu
For me, $WEBSERVER_HTDOCS$ is /usr/local/apache/htdocs and $PHP_LIB$ is /usr/local/lib/php/
I then set my directories in Configure Plugin: Category Tree Menu to the following:
I left off the leading slashes.
Path to Images: bundled-libs/HTML_TreeMenu/images/
Path to HTMLTree.js: bundled-libs/HTML_TreeMenu/TreeMenu.js
And don't get confused by the plugin's request for HTMLTree.js. The second path should ask for TreeMenu.js instead.
Now the next step is figuring out how to wedge the linked image for the RSS feeds into the tree structure.