you can always search & replace by string or regex the output html of the filtered $items.
anyway, if you’re targeting usual menu items, you can add $post objects and order items through the wp_nav_menu_objects filter, otherwise here’s the basic sample code:
function replace_itemcart_in_menu( $items, $args ) {
$url = home_url('my-item');
$previtem = '<li id="menu-item-11" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-11"><a href="'.$carturl."https://wordpress.stackexchange.com/">My Item</a>';
$newitem = '<li>New Item</li>';
$items = str_replace($previtem, $previtem.$newitem, $items);
return $items;
}
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