I need to implement a web application with a sidenav "drawer".
It's a very common UI nowadays. For example, Google Maps has a collapsable sidenav on the left that shows a "drawer": inside the drawer, things can be pretty complex and interact with the main screen. Also, Google Slide has one if you choose format options.
I'm not sure which frontend framework to use. AngularJS alone will be enough? Or is there something else on top? Any useful boilerplate? I need to concentrate on the features, not much on technical details.

Installing the latest Angular Material (version 11 ATM) and since version 8 if I remember correctly, you can create the boilerplate by running a simple command (schematic): https://material.angular.io/guide/schematics#dashboard-schematic Have fun!
You can choose between Angular Material or PrimeNG, if you have experience in integrating third party javascript libs you can use SemanticUI , Bootstrap or Foundation. All above UI Frameworks support side navigation with off page canavas implementation.