I ended up solving this problem with Ubermenu.
What I wanted to write was complex enough that it made more sense to get a tested, commercial plugin that had the features I need. MaxMegaMenu didn’t do tabbed content but Ubermenu does.
I’m able to construct menus like this:
Taxonomy1
[Tabs]
[DynamicTerms]
[Dynamic Posts]
Taxonomy2
[Tabs]
[DynamicTerms]
[Dynamic Posts]
etc. The end result looks great, it integrated well enough with my custom theme (though I had to convert their LESS to SASS for Foundation compatibility), it does sticky and mobile menus as well, and it’s well supported.
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