Extend Menu Walker Output

change this line:

$item_output .= $args->link_before . apply_filters('the_title', $item->title, $item->ID) . $args->link_after;

to:

$item_output .= $args->link_before . apply_filters('the_title', substr($item->title, 0, 10), $item->ID) . $args->link_after;

That limits the character to 10. Please note this substr($item->title, 0, 10).

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