I believe you can set the docExpansion:"full" when creating swagger-ui.
See https://github.com/swagger-api/swagger-ui#parameters for details.
docExpansion: Controls the default expansion setting for the operations and tags. It can be ‘list’ (expands only the tags), ‘full’ (expands the tags and operations) or ‘none’ (expands nothing). The default is ‘list’.