How To Conditionally Change Menu In Same Theme Location

Yes, You can easily switch menus using conditional tags.

For example If you want to show different menu for logged in user and non-logged in user then It may be like:

<?php
 if ( is_user_logged_in() ) {
 wp_nav_menu( array( 'theme_location' => 'logged-in-menu' ) );
} else {
 wp_nav_menu( array( 'theme_location' => 'logged-out-menu' ) );
}
?>

Read WordPress Codex

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