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I have customised WordPress wp_nav_menu by using Nav_Menu_Walkers and currently achieve the following format:

<a href="#">Menu Parent</a>
<div class="sub-menu">
    <ul class="clearfix">
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
    </ul>
</div>

My question is: How can we add a heading, which the content is derived from title attribute of the menu parent link, For example:

<a title="The Title of Menu Parent" href="#">Menu Parent</a>
<div class="sub-menu">
    <h3> The Title of Menu Parent</h3>
    <ul class="clearfix">
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
        <li><a href="#">Menu Item</a></li>
    </ul>
</div>

Any possible way to achieve it with Nav_Menu_Walkers?

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