Return Page/Post ID’s of Child WP_Nav_Menu items

Hook int 'wp_nav_menu_objects'. You get a list (an array) of all found menu items as an array. Each item is an object, and each one has a property named ID. That’s the ID of the original object if it was a post object.

In your filter callback just iterate over these items, collect the IDs and use them later in your custom query.

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