How to instantiate prefabs exactly in the way as drag'n'drop does?

Hello,

I am trying to achieve exactly the same thing that happens when dragging a prefab from assets to the hierarchy. By dragging I get a blue instance with an enabled context menu item 'Select Prefab' and the enabled menu item 'GameObject/Apply Changes To Prefab' after changes have been done.

My code so far is:

 public static class MenuItems
 {
   [MenuItem ("GameObject/UI/PlayerControlBar")]
   public static void CreatePlayerControlBar(MenuCommand menuCommand)
   {
     InstantiatePrefabByUUID<GameObject>("2442d4b1b19674f26959f32c69b751da", menuCommand);
   }
  
   private static T InstantiatePrefabByUUID<T>(string uuid, MenuCommand menuCommand = null) where T:Object
   {
     var prefab = AssetHelper.LoadAssetByGUID<T>(uuid);
     if (!prefab) 
       throw new Exception("Asset with UUID '" +uuid+ "' could not be loaded.");
     
     var obj = Object.Instantiate(prefab, new Vector3(), new Quaternion(), menuCommand.context as Transform);
     if(typeof(T) == typeof(GameObject) && null != menuCommand)
       GameObjectUtility.SetParentAndAlign(obj as GameObject, menuCommand.context as GameObject);
     Undo.RegisterCreatedObjectUndo(obj, "Create " + obj.name);      
     Selection.activeObject = obj;
     return obj;
   }
 }
 
 public static class AssetHelper
 {
   public static T LoadAssetByGUID<T>(string guid) where T:Object
   {
     Debug.Log("LoadAssetByGUID("+guid+") | path: \"" + AssetDatabase.GUIDToAssetPath(guid) + "\"");
     return AssetDatabase.LoadAssetAtPath<T>(AssetDatabase.GUIDToAssetPath(guid));
   }
 }

This works almost as expected, however, the instance in the hierarchie is a clone and not displayed in blue as well as the menus mentioned above are not enabled.

How can I imitate the same behavior like dragging the prefab into the hierarchy by a UnityEditor only script? There is no need to do it in runtime.