Here is my end result for those that come across this thread:
// [not shown] special cases for post categories up here (using is_ancestor_of function)
// now for the pages
elseif(is_page()) {
//get post id
global $post;
$page = $post->ID;
// Some Menu for a set of pages
if($page == "68" || $post->post_parent == "68" ) { ?>
<h3>Some Title For this Set of Pages</h3>
<ul>
<?php wp_list_pages('orderby=name&child_of=68&title_li='); ?>
</ul>
<?php }
// Another Menu for another set of pages
if ($page == '751' || $post->post_parent == "751" ) { ?>
<h3>Some Other Title For this Set of Pages</h3>
<ul>
<?php wp_list_pages('depth=2&child_of=751&title_li='); ?>
</ul>
<?php }
} else { ?>
// standard sidebar stuff for untargeted pages or posts