I just got into the database after trying this myself, so beware of inaccuracies. I’m also assuming the database-prefix is wp_.
What I found was that a refrence to the menu itself is stored in both wp_termsand wp_term_taxonomy. The one in term_taxonomyalso stores the number of elements in the menu.
The relationships between menu items and posts are stored in wp_term_relationships as refrences to post_id’s and taxonomy_id’s. I hope this was somewhat helpful.
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