How can I transition height: 0; to height: auto; using CSS?

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I am trying to make a <ul> slide down using CSS transitions.

The <ul> starts off at height: 0;. On hover, the height is set to height:auto;. However, this is causing it to simply appear, not transition,

If I do it from height: 40px; to height: auto;, then it will slide up to height: 0;, and then suddenly jump to the correct height.

How else could I do this without using JavaScript?

#child0 {
  height: 0;
  overflow: hidden;
  background-color: #dedede;
  -moz-transition: height 1s ease;
  -webkit-transition: height 1s ease;
  -o-transition: height 1s ease;
  transition: height 1s ease;
}
#parent0:hover #child0 {
  height: auto;
}
#child40 {
  height: 40px;
  overflow: hidden;
  background-color: #dedede;
  -moz-transition: height 1s ease;
  -webkit-transition: height 1s ease;
  -o-transition: height 1s ease;
  transition: height 1s ease;
}
#parent40:hover #child40 {
  height: auto;
}
h1 {
  font-weight: bold;
}
The only difference between the two snippets of CSS is one has height: 0, the other height: 40.
<hr>
<div id="parent0">
  <h1>Hover me (height: 0)</h1>
  <div id="child0">Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>
  </div>
</div>
<hr>
<div id="parent40">
  <h1>Hover me (height: 40)</h1>
  <div id="child40">Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>Some content
    <br>
  </div>
</div>

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