If you are only wanting to limit the categories in the hamburger menu, CSS can do it.
/* to hide them all */
.hamburger-panel ul.category-links { display: none; }
/* to hide only subcategories */
.hamburger-panel ul.category-links li.subcategory { display: none; }
You can also target specific categories (but you need to use Dev Tools, right click inspect element to see the category specific selector to use
.hamburger-panel ul.category-links li.category-specific-selector { display: none; }