Get the menu items associated with a particular object.

Signature

wp_get_associated_nav_menu_items( $object_id = 0, $object_type = 'post_type', $taxonomy = '' )
object_id
 (int) The ID of the original object.
Default: 0
object_type
 (string) The type of object, such as "taxonomy" or "post_type."
Default: 'post_type'
taxonomy
 (string) If $object_type is "taxonomy", $taxonomy is the name of the tax that $object_id belongs to
Default: ''

Return

(array) The array of menu item IDs; empty array if none;

Source

function wp_get_associated_nav_menu_items( $object_id = 0, $object_type = 'post_type', $taxonomy = '' ) {
	$object_id = (int) $object_id;
	$menu_item_ids = array();

	$query = new WP_Query;
	$menu_items = $query->query(
		array(
			'meta_key' => '_menu_item_object_id',
			'meta_value' => $object_id,
			'post_status' => 'any',
			'post_type' => 'nav_menu_item',
			'posts_per_page' => -1,
		)
	);
	foreach( (array) $menu_items as $menu_item ) {
		if ( isset( $menu_item->ID ) && is_nav_menu_item( $menu_item->ID ) ) {
			$menu_item_type = get_post_meta( $menu_item->ID, '_menu_item_type', true );
			if (
				'post_type' == $object_type &&
				'post_type' == $menu_item_type
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