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I'm doing a site in WP with dynamic and static content. I'd create the menu from the admin panel. I have 5 sections (Home, about, Boats, News(blog), contact). I'd create a custom post type with new taxonomies for the boats. What I want to do now is, display every new boat model as a sub menu of boats automatically. How can I do that?

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You could achieve this with a custom walker function, on your menu. a very simple example:

class Walker_WPA82563_Submenu extends Walker_Nav_Menu {
    function end_el(&$output, $item, $depth=0, $args=array()) {
        if( 'Boats' == $item->title ){
            $output .= '<ul><li>Dynamic Subnav</li></ul>';
        $output .= "</li>\n";  

Then where you call the nav menu, create an instance of your custom walker with the walker argument.

        'theme_location' => 'primary',
        'walker' => new Walker_WPA82563_Submenu
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