Automatically add images to a menu

I guess you need this function

get_the_post_thumbnail_url($menu->object_id);

(provided menu item is not a custom link)

$menu->ID is not the id of the post/page it is linking to.

About calling meta yes it is also possible

$image_url = get_post_meta( $menu->object_id, 'meta_key', true );

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