Hook int 'wp_nav_menu_objects'. You get a list (an array) of all found menu items as an array. Each item is an object, and each one has a property named ID. That’s the ID of the original object if it was a post object.
In your filter callback just iterate over these items, collect the IDs and use them later in your custom query.
- See How to var_dump nav menu items from anywhere? for a plugin to collect these items for later usage.
- In Dynamically link to the latest post I showed a case where the ID is empty. Prepare for that in your code. 🙂
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