How to looping taxonomy terms?

Rather than relying on a literal menu, you could use wp_list_pages possibly to better effect and sort out by certain criteria if you wish, then foreach page, display terms. Here is a little function I wrote to spit out terms for a taxonomy passed to it:

// give taxonomy, will return link list to custom structure. 
function tax_link_list( $taxonomy ) {
$terms = get_the_terms($post->ID, $taxonomy);
if ($terms && ! is_wp_error( $terms ) ) {
    $term_links = array();
    foreach ($terms as $term) { 
        $term_links[] = '<a href="'.get_bloginfo('url').'/property-results/?'.$taxonomy.'='.$term->slug.'">'.$term->name.'</a>';
    }
    $term_space = implode(' ', $term_links);
    return $term_space;
}
}

In this example it is returning a list of links for a real estate search engine. You could have it simply return the text. To run this, I pass a taxonomy to the function and get a list of terms. Modified, this might work for you. Check out wp_list_pages
as well. Good luck.