Advanced Matrix Response with multiple categories

Hello community,

I am trying to replicate the following table with ODK xlsforms for a medical form. I have two main questions. Specifically, how can I create categories at the question level (e.g. hip, knee, ankle, foot, etc) and how can I later categorise the select one by each of the two options (RIGHT / LEFT) that need to be filled.

I've found some general discussions about Matrix Response Type which might lead into the answer, but I'm a bit lost.

Thanks in advanced for the suggestions!

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Your use-case seems relevant to an ongoing discussion around Form design: grid of text or numeric input - #37 by Florian_May