Use ShiftNav with Genesis Sample theme - Replace Genesis Sample responsive menu with ShiftNav plugin. https://www.damiencarbery.com/2020/01/use-shiftnav-with-genesis-sample-theme/

shiftnav-with-genesis-sample.php

<?php
/*
Plugin Name: ShiftNav with Genesis Sample
Plugin URI: https://www.damiencarbery.com/2020/01/use-shiftnav-with-genesis-sample-theme/
Description: Replace Genesis Sample responsive menu with ShiftNav plugin.
Author: Damien Carbery
Version: 0.1
*/


// Don't need responsive menu because we are using ShiftNav to show the menu on mobile.
add_action( 'wp_enqueue_scripts', 'dcwd_disable_responsive_menu', 15 );
function dcwd_disable_responsive_menu() {
	if ( class_exists( 'ShiftNav' ) ) {
		wp_dequeue_script( 'genesis-sample-responsive-menu' );
	}
}


// Manually add the ShiftNav toggle.
// The markup is as given in the ShiftNav/Main ShiftNav Settings with 'menu-toggle' class
// added to make use of the Genesis Sample CSS that will show/hide the toggle at 960px.
//add_action( 'genesis_header', 'dcwd_mobile_menu_toggle' );
add_action( 'genesis_header_right', 'dcwd_mobile_menu_toggle', 15 );
function dcwd_mobile_menu_toggle() {
	echo '<a class="menu-toggle shiftnav-toggle shiftnav-toggle-button" data-shiftnav-target="shiftnav-main"><i class="fa fa-bars"></i> Menu</a>';
	// If you disable "Load Font Awesome" you can tweak the link class to use Dashicons (which is already loaded).
	//echo '<a class="menu-toggle dashicons-before dashicons-menu shiftnav-toggle shiftnav-toggle-button" data-shiftnav-target="shiftnav-main">Menu</a>';
}