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I'm a bit new to the whole customizing wp nav menus and have exhausted all ideas.

I want to output a completely custom nav that first displays all top level list items.

Home     |     Page 2     |     Page 3     |     Contact

like so... but I want to make use of a plugin that allows pages to have categories, and each child element of a particular parent will be sorted that way.

Home     |     Page 2     |     Page 3     |     Contact
                 Category A:
                 Child 1
                 Child 2
                 Category B:
                 Child 1
                 Child 2

Is there a way to inject a query into the second level of a custom meny to output the desired categories, so the site user can add and delete pages while having them reflect the custom nav?

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