I am having the same issue trying to use UISlideOut and UIGoToArticle in the same app.
I copied your above referenced codepen, simplified it a bit and updated the css and js sources to later versions.
I currently have //$.UISlideout(); commented out and my UIGoToArticle works just fine.
Clicking on the pink Imagine Dragon text goes to the pictures article.
$('#goto_pics').on('singletap', function() {
$.UIGoToArticle('#pictures');
});
If you uncomment that so that the UISlideout works you then get the above mentioned error.