ChromExtension: SidePanel track down the tab changes and render on sidepanel UI

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I have a case where I want to track down the click on action item under sidepanel The below code

chrome.sidePanel
  .setPanelBehavior({ openPanelOnActionClick: true }).addListener(callback)

throws error

Uncaught TypeError: chrome.sidePanel.setPanelBehavior(...).addListener is not a function

How can I track the callback for the case where a user comes in and click on the action button and sidepanel extension opens up which will then in background fetch specific elements from the current tab webpage (which I have already wrote down) and then display those elements content on the sidepanel UI This needs to be done on every tab change

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