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Set one or more menus as a submenus of another menu

I’m working on a website that has several menu locations, each with their own menu.

I’m also using a plugin (shiftnav), which defines its own menu location, and requires me to configure a menu for that location, to be used as the mobile drawer menu.

The mobile drawer menu should contain all of the links that are found in all of the other menus.

I could theoretically accomplish this simply by individually adding all the links from the other menus to the mobile menu, but that’s a burden to maintain. Instead, I’d like the mobile menu to pull its links in from the other menus.

I’m wondering, is there any way to add those other menus as "submenus" to my mobile menu?

It doesn’t look like WordPress offers a way to do this natively, but I was wondering if there is any code or plugins I could use that would allow me to do this.