Hack nav menu to add gettext() to menu items?

Retrieved menu items pass through wp_get_nav_menu_items filter, as well as few others in wp_get_nav_menu_items() and around.

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EDIT – This is what I used:

function translate_menu( $items, $menu, $args ) {
    foreach ( $items as $key => $item ) {
        $items[$key]->title = _($items[$key]->title);
    }
    return $items;
}