I am getting error message on accessing menu-endpoint

You didn’t change your prefix for that plugin’s API.

Instead of 

/MC-ACF/wp-json/wp/v2/menus

try

/MC-ACF/wp-json/wp-api-menus/v2/menus

That plugin developer states it right on the page you referenced in your question. If you’re wondering how I solved this.

I’m not sure what your use case is, but there are newer versions of similar plugins as well. That one works fine, but has not been updated in some time.

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