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index 57eb5ff271..d2d13eb5bf 100644
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diff --git a/packages/terra-navigation-side-menu/CHANGELOG.md b/packages/terra-navigation-side-menu/CHANGELOG.md
index 2b60cca9b8..af05b654b2 100644
--- a/packages/terra-navigation-side-menu/CHANGELOG.md
+++ b/packages/terra-navigation-side-menu/CHANGELOG.md
@@ -2,6 +2,9 @@
 
 ## Unreleased
 
+* Changed
+  * Changed styles for selected item background color styles
+
 ## 2.55.0 - (May 1, 2024)
 
 * Updated
diff --git a/packages/terra-navigation-side-menu/src/MenuItem.module.scss b/packages/terra-navigation-side-menu/src/MenuItem.module.scss
index 161a09f4c8..4118e08d38 100644
--- a/packages/terra-navigation-side-menu/src/MenuItem.module.scss
+++ b/packages/terra-navigation-side-menu/src/MenuItem.module.scss
@@ -87,7 +87,7 @@
 
     &.is-selected {
       background-attachment: var(--terra-navigation-side-menu-item-selected-background-attachment);
-      background-color: var(--terra-navigation-side-menu-item-selected-background-color, #f4f4f4);
+      background-color: var(--terra-navigation-side-menu-item-selected-background-color, darken(#ebf6fd, 2%));
       background-image: var(--terra-navigation-side-menu-item-selected-background-image);
       background-size: var(--terra-navigation-side-menu-item-selected-background-size);
       border-left: var(--terra-navigation-side-menu-item-selected-border-left, 0.5rem solid #007cc3);
@@ -112,7 +112,7 @@
 
       &:hover,
       &.is-hovered {
-        background-color: var(--terra-navigation-side-menu-item-selected-hover-background-color, #f4f4f4);
+        background-color: var(--terra-navigation-side-menu-item-selected-hover-background-color, darken(#ebf6fd, 2%));
         color: var(--terra-navigation-side-menu-item-selected-hover-color);
 
         /* stylelint-disable-next-line max-nesting-depth */
diff --git a/packages/terra-navigation-side-menu/src/NavigationSideMenu.jsx b/packages/terra-navigation-side-menu/src/NavigationSideMenu.jsx
index 1aab372f2c..1ef141fd9f 100644
--- a/packages/terra-navigation-side-menu/src/NavigationSideMenu.jsx
+++ b/packages/terra-navigation-side-menu/src/NavigationSideMenu.jsx
@@ -365,7 +365,7 @@ class NavigationSideMenu extends Component {
     }
 
     let header;
-    if (this.onBack || !currentItem.isRootMenu) {
+    if (this.onBack || (currentItem && !currentItem.isRootMenu)) {
       header = (
         <li role="none">
           <div
@@ -396,7 +396,7 @@ class NavigationSideMenu extends Component {
           aria-relevant="additions text"
           refCallback={this.setVisuallyHiddenComponent}
         />
-        <ContentContainer {...customProps} fill className={sideMenuContentContainerClassNames}>
+        <ContentContainer {...customProps} className={sideMenuContentContainerClassNames}>
           <nav role="navigation" aria-label={this.props.ariaLabel}>
             <ul role="menu" ref={(refobj) => this.handleMenuListRef(refobj)} className={cx(['side-menu-list'])}>
               {header}
diff --git a/packages/terra-navigation-side-menu/src/NavigationSideMenu.module.scss b/packages/terra-navigation-side-menu/src/NavigationSideMenu.module.scss
index 3d642bf4e4..ad391ecfa9 100644
--- a/packages/terra-navigation-side-menu/src/NavigationSideMenu.module.scss
+++ b/packages/terra-navigation-side-menu/src/NavigationSideMenu.module.scss
@@ -6,6 +6,8 @@
   .side-menu-content-container {
     background-color: var(--terra-navigation-side-menu-content-container-background-color);
     overflow: hidden;
+    height: 100%;
+    width: 100%;
 
     > :nth-child(1) {
       background-color: var(--terra-navigation-side-menu-content-container-header-background-color);
diff --git a/packages/terra-navigation-side-menu/src/_MenuItem.jsx b/packages/terra-navigation-side-menu/src/_MenuItem.jsx
index 4e285728c5..44c36c7b14 100644
--- a/packages/terra-navigation-side-menu/src/_MenuItem.jsx
+++ b/packages/terra-navigation-side-menu/src/_MenuItem.jsx
@@ -100,7 +100,7 @@ class MenuItem extends React.Component {
 
     const itemClassNames = classNames(cx(
       'menu-item',
-      { 'is-selected': isSelected },
+      { 'is-selected': isSelected && !hasChevron },
       { 'is-active': this.state.active },
       theme.className,
     ),
diff --git a/packages/terra-navigation-side-menu/src/clinical-lowlight-theme/NavigationSideMenuItem.module.scss b/packages/terra-navigation-side-menu/src/clinical-lowlight-theme/NavigationSideMenuItem.module.scss
index 35080dc8e7..125bbc414a 100644
--- a/packages/terra-navigation-side-menu/src/clinical-lowlight-theme/NavigationSideMenuItem.module.scss
+++ b/packages/terra-navigation-side-menu/src/clinical-lowlight-theme/NavigationSideMenuItem.module.scss
@@ -6,7 +6,7 @@
     --terra-navigation-side-menu-list-item-border-right: none;
     --terra-navigation-side-menu-list-item-border-top: none;
     
-    --terra-navigation-side-menu-item-active-background-color: #2d3539;
+    --terra-navigation-side-menu-item-active-background-color: #1e3a49;
     --terra-navigation-side-menu-item-active-chevron-color: #c5c5c6;
     --terra-navigation-side-menu-item-border-bottom: none;
     --terra-navigation-side-menu-item-border-left: none;
@@ -17,13 +17,13 @@
     --terra-navigation-side-menu-item-chevron-padding-left: 0.7143rem;
     --terra-navigation-side-menu-item-chevron-width: 0.8em;
     --terra-navigation-side-menu-item-color: #b2b5b6;
-    --terra-navigation-side-menu-item-focus-background-color: #2d3539;
+    --terra-navigation-side-menu-item-focus-background-color: #1e3a49;
     --terra-navigation-side-menu-item-focus-box-shadow: inset 0 0 0 1px #4a90e2, inset 0 0 0 4px rgba(0, 0, 0, 0.3);
     --terra-navigation-side-menu-item-font-size: 1.071rem;
     --terra-navigation-side-menu-item-font-weight: normal;
     --terra-navigation-side-menu-item-line-height: 1.42857;
     --terra-navigation-side-menu-item-focus-chevron-color: #c5c5c6;
-    --terra-navigation-side-menu-item-hover-background-color: #2d3539;
+    --terra-navigation-side-menu-item-hover-background-color: #1e3a49;
     --terra-navigation-side-menu-item-hover-chevron-color: #c5c5c6;
     --terra-navigation-side-menu-item-hover-color: #b2b5b6;
     --terra-navigation-side-menu-item-padding-bottom: 0.8225rem;
@@ -31,19 +31,19 @@
     --terra-navigation-side-menu-item-padding-right: 0.7143rem;
     --terra-navigation-side-menu-item-padding-top: 0.8225rem;
     --terra-navigation-side-menu-item-selected-background-attachment: none;
-    --terra-navigation-side-menu-item-selected-background-color: #2d3539;
+    --terra-navigation-side-menu-item-selected-background-color: #004c76;
     --terra-navigation-side-menu-item-selected-background-image: none;
     --terra-navigation-side-menu-item-selected-before-background-image: none;
     --terra-navigation-side-menu-item-selected-background-size: auto;
     --terra-navigation-side-menu-item-selected-border-left: 4px solid #3496cf;
     --terra-navigation-side-menu-item-selected-chevron-color: #c5c5c6;
     --terra-navigation-side-menu-item-selected-color: #b2b5b6;
-    --terra-navigation-side-menu-item-selected-focus-background-color: #2d3539;
+    --terra-navigation-side-menu-item-selected-focus-background-color: #1e3a49;
     --terra-navigation-side-menu-item-selected-focus-chevron-color: #c5c5c6;
     --terra-navigation-side-menu-item-selected-focus-color: #b2b5b6;
+    --terra-navigation-side-menu-item-selected-hover-background-color: #1e3a49;
     --terra-navigation-side-menu-item-selected-font-weight: 600;
     --terra-navigation-side-menu-item-selected-padding-left: 0.7143rem;
-    --terra-navigation-side-menu-item-selected-hover-background-color: #2d3539;
     --terra-navigation-side-menu-item-selected-hover-chevron-color: #c5c5c6;
     --terra-navigation-side-menu-item-selected-hover-color: #b2b5b6;
     --terra-navigation-side-menu-item-text-transform: none;
diff --git a/packages/terra-navigation-side-menu/src/orion-fusion-theme/NavigationSideMenuItem.module.scss b/packages/terra-navigation-side-menu/src/orion-fusion-theme/NavigationSideMenuItem.module.scss
index 443b8dcff1..eb83d652be 100644
--- a/packages/terra-navigation-side-menu/src/orion-fusion-theme/NavigationSideMenuItem.module.scss
+++ b/packages/terra-navigation-side-menu/src/orion-fusion-theme/NavigationSideMenuItem.module.scss
@@ -6,7 +6,7 @@
     --terra-navigation-side-menu-list-item-border-right: none;
     --terra-navigation-side-menu-list-item-border-top: none;
     
-    --terra-navigation-side-menu-item-active-background-color: #f5fafe;
+    --terra-navigation-side-menu-item-active-background-color: #f4fafe;
     --terra-navigation-side-menu-item-active-chevron-color: #bcbfc0;
     --terra-navigation-side-menu-item-border-bottom: none;
     --terra-navigation-side-menu-item-border-left: none;
@@ -31,7 +31,7 @@
     --terra-navigation-side-menu-item-padding-right: 0.7143rem;
     --terra-navigation-side-menu-item-padding-top: 0.8225rem;
     --terra-navigation-side-menu-item-selected-background-attachment: none;
-    --terra-navigation-side-menu-item-selected-background-color: #f4f4f4;
+    --terra-navigation-side-menu-item-selected-background-color: #e2f2fc;
     --terra-navigation-side-menu-item-selected-background-image: none;
     --terra-navigation-side-menu-item-selected-before-background-image: none;
     --terra-navigation-side-menu-item-selected-background-size: auto;
@@ -43,7 +43,7 @@
     --terra-navigation-side-menu-item-selected-focus-color: #1c1f21;
     --terra-navigation-side-menu-item-selected-font-weight: 600;
     --terra-navigation-side-menu-item-selected-padding-left: 0.7143rem;
-    --terra-navigation-side-menu-item-selected-hover-background-color: #f4f4f4;
+    --terra-navigation-side-menu-item-selected-hover-background-color: #f4fafe;
     --terra-navigation-side-menu-item-selected-hover-chevron-color: #909496;
     --terra-navigation-side-menu-item-selected-hover-color: #1c1f21;
     --terra-navigation-side-menu-item-text-transform: none;
diff --git a/packages/terra-navigation-side-menu/tests/jest/__snapshots__/NavigationSideMenu.test.jsx.snap b/packages/terra-navigation-side-menu/tests/jest/__snapshots__/NavigationSideMenu.test.jsx.snap
index ab3cff8482..74048f8dc0 100644
--- a/packages/terra-navigation-side-menu/tests/jest/__snapshots__/NavigationSideMenu.test.jsx.snap
+++ b/packages/terra-navigation-side-menu/tests/jest/__snapshots__/NavigationSideMenu.test.jsx.snap
@@ -147,7 +147,7 @@ exports[`Layout correctly applies the theme context className 1`] = `
       </VisuallyHiddenText>
       <ContentContainer
         className="side-menu-content-container orion-fusion-theme"
-        fill={true}
+        fill={false}
         intl={
           Object {
             "defaultFormats": Object {},
@@ -178,7 +178,7 @@ exports[`Layout correctly applies the theme context className 1`] = `
         setFocusOnContainer={false}
       >
         <div
-          className="content-container-fill side-menu-content-container orion-fusion-theme"
+          className="content-container-static side-menu-content-container orion-fusion-theme"
           intl={
             Object {
               "defaultFormats": Object {},
@@ -701,7 +701,7 @@ exports[`Layout should render a NavigationSideMenu with ariaLabel 1`] = `
     <ContentContainer
       ariaLabel="Sub Menu List"
       className="side-menu-content-container"
-      fill={true}
+      fill={false}
       intl={
         Object {
           "defaultFormats": Object {},
@@ -733,7 +733,7 @@ exports[`Layout should render a NavigationSideMenu with ariaLabel 1`] = `
     >
       <div
         ariaLabel="Sub Menu List"
-        className="content-container-fill side-menu-content-container"
+        className="content-container-static side-menu-content-container"
         intl={
           Object {
             "defaultFormats": Object {},
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