wp-custom-menu-without-walker

<?php $menu_location = 'some_menu_location'; ?>

<?php if ( has_nav_menu( $menu_location ) ): ?>

    <?php $menu_items = wp_get_nav_menu_items( wp_get_nav_menu_name( $menu_location ) ); ?>

    <?php foreach ( $menu_items as $menu_item ): ?>

        <a href="<?= esc_url( $menu_item->url ) ?>"
           target="<?= esc_attr( $menu_item->target ?: '_self' ) ?>"
           class="<?= esc_attr( implode( ' ', $menu_item->classes ) ) ?>"><?= esc_html( $menu_item->title ) ?></a>

    <?php endforeach; ?>

<?php endif; ?>