Single click to open folders that are within a folder in the dock

I am running Mac OS Mojave. I have a few folders that I keep in the doc, because they have folders within them that I frequently access. Are there any tricks or shortcuts so that when I click on folder in the dock and it shows me the folders contained within that folder either via the fan view or grid view; is there a was to single click the folder I want and have it open in the finder rather than having to click on the "Open in Finder" arrow to open the folder in the dock and then select the folder I want and double click on it?