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SurveyJS
Open-Source JSON Form Builder to Create Dynamic Forms Right in Your App. With SurveyJS form UI libraries, you can build and style forms in a fully-integrated drag & drop form builder, render them in your JS app, and store form submission data in any backend, inc. PHP, ASP.NET Core, and Node.js.
For that purpose you could use sticky sidebar (https://abouolia.github.io/sticky-sidebar/), it behave the exact same way as in your example. You download the minified version (https://github.com/abouolia/sticky-sidebar/tree/master/dist), add it to your WordPress installation, then enqueue it along with your custom script. There are a few examples and instructions on their GitHub page, otherwise I think they also have a WordPress plugin. If you can't make it work feel free to contact me.
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