for example, one that appears when certain conditions are met while hovering
You maybe can do something like (far from ideal, but it is a starting point hopefully):
For floating menu:
For the actual trigger which will trigger the floating menu:
however there will be some edge cases etc. which you need to handle I guess.
This will show my floating menu whenever Firefox is activated and also the hovered element contains "About" string.
By the way there's also the action "Show Custom Context Menu (NEW)" which is like a real context menu.