how do I expand the icloud drive in my sidebar so I can drag the file into the direct folder where I needed it to go to
You can drag and drop your content to the iCloud folder - and indeed any, but let's use the iCloud folder in the Sidebar as an example. You can move either a folder or a file. Click and hold on the item you wish to move. Drag it to the iCloud folder in the Sidebar and hover there for a second. Do not release your mouse or trackpad click. The iCloud folder will spring open to reveal its contents. Continue to hold your mouse down and do the same to any sub-folders until you reach your destination. Release your mouse and the content you have dragged will move into that place.
Or you could open a new Finder window and create a new tab: Command and T, or File > New Tab. This creates a browser-style pair of windows and you can toggle between the two. In one, navigate to the content you wish to move or copy. In the second window navigate to the intended destination. Back in the first window, click and hold on the content then move the pointer to the title bar of the second window and pause while it springs open, then release your mouse to drop the content. Furthermore, you can continue to navigate to sub-folders pausing as they spring open.
i want to create a subfolder, even the subfolder is selected. and idea how to create a folder directly into a specific spot?
When you want to create a new folder within another folder, first open that folder and then create a new one. The new folder will be placed at that location.
And just as an extra tip - if you are working with external drives the default setting is to copy to the drive. If you want to move content simply hold down the command key. This will copy the content to the external drive then delete it from your Mac.
Apple has some other tips on Finder in
Get to know the Finder on your Mac
Organise your files in the Finder on Mac
and Ways to organise files on your Mac desktop