Best way to customise wp_nav_menu [duplicate]

Please check out this similar question with two directions you could use to solve your problem:

Adding html elements to wp nav menu

I would try using either the wp_get_nav_menu_items() function or try using the ‘wp_nav_menu_items’ filter.

An easier solution (If you do not want to do much coding) would be to use The Uber Menu Plugin. wpmegamenu.com/ I have used this on projects before and have been quite pleased.

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