1

I found a post about adding figure to the right margin, which works pretty well.

Add an image in the right margin

However, I don't know the commands for adding a figure to the left margin. Can someone help?

2

Here is a example with the mwe you gave. Important is the \reversemarginpar

\documentclass{article}
\usepackage{xcolor}
\usepackage{marginnote}
\usepackage{sidenotes} 
\usepackage{lipsum} % provides the dummy text
\usepackage{mwe} % provides the example image
\reversemarginpar
\begin{document}
\lipsum[1]
\begin{marginfigure}%
\includegraphics[width=\marginparwidth]{example-image-a}%
\caption{This is in the margin.}%
\end{marginfigure}%
\lipsum[2]

\end{document}

You can also switch back and forth with \reversemarginpar and \normalmarginpar

\documentclass{article}
\usepackage{xcolor}
\usepackage{marginnote}
\usepackage{sidenotes} 
\usepackage{lipsum} % provides the dummy text
\usepackage{mwe} % provides the example image
\reversemarginpar
\begin{document}
\lipsum[1]
\begin{marginfigure}%
    \includegraphics[width=\marginparwidth]{example-image-a}%
    \caption{This is in the margin on the left.}%
\end{marginfigure}%
\normalmarginpar
\begin{marginfigure}
    \includegraphics[width=\marginparwidth]{example-image-a}
    \caption{This is in the margin on the right}
\end{marginfigure}
\lipsum[2]

\end{document}

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