How to Display a menu only if it has Posts in Custom Menu?

Okay, I figure it out.

Instead of using wp_nav_menu, I use wp_list_categories which has more parameters that we can control.
So to not display empty menu, I use:

<?php  wp_list_categories(array('taxonomy' => 'custom_tax','hide_empty' => '1','title_li' => '')); ?>

the hide_empty do the magic here.

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