1. Agregas la opción Drawer en tu proyecto y se activará automáticamente la opción AppComat


2. En  drawer_main agregas lo que te plazca.

codigo:
// DrawerRigth
_toolbar.setNavigationOnClickListener(new View.OnClickListener() {

@Override

public void onClick(View _v) {

_drawer.openDrawer(Gravity.RIGHT);

}

});

LinearLayout _nav_view = (LinearLayout) findViewById(R.id._nav_view);

androidx.drawerlayout.widget.DrawerLayout

.LayoutParams lp = new androidx.drawerlayout.widget.DrawerLayout

.LayoutParams(LinearLayout.LayoutParams.MATCH_PARENT, LinearLayout.LayoutParams.MATCH_PARENT);

lp.gravity=Gravity.RIGHT;

_nav_view.setLayoutParams(lp);