Extend CMS with ModelAdmin with hierarchical representation

Silverstripe Version: 4.7

Question: Howto to use a hierarchical representaition (like SiteTree) in my own cms-extension (via ModelAdmin)?

I built a cms-extension with ModelAdmin and created a new DataObject. This Category contains sub-categories (hierarchical) and I watn to create/delete/maintain these dateobjects in the same way like CMSMain does it with SiteTree.
Is there any way to switch from the grid used in ModelAdmin to a tree like SiteTree? Or should I extend LeftAndMain without using ModelAdmin?

Does anybody have an idea or a clear picture how to achieve this in the right way?

Best regards,