Get list of categories data structure

  • Hi, I am newbie in wordpress world. I know about wp_list_categories but this function outputs already formatted HTML code ul and li. I don’t need this. I need just data structure like php nested array or any other so I can traverse recursively through this tree.
    I also heard about Walker class, but don’t know how to apply it correctly
    What is the best way to get such data structure ? Or I should create it by myself ?
    Thanks

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