Create customize option with Kirki and then retrive shortcode

kirki-customize-with-shortcode.php

<?php 
Kirki::add_config('theme_config_id', array(
	'capability'  => 'edit_theme_options',
	'option_type' => 'theme_mod',
));

Kirki::add_section('main_menu_settings', array(
	'title'    => __('Main Menu Settings', 'textdomain'),
	'priority' => 30,
));

Kirki::add_field('theme_config_id', array(
	'type'     => 'text',
	'settings' => 'menu_title',
	'label'    => __('Menu Title', 'textdomain'),
	'section'  => 'main_menu_settings',
	'default'  => '',
));

Kirki::add_field('theme_config_id', array(
	'type'     => 'textarea',
	'settings' => 'menu_description',
	'label'    => __('Menu Description', 'textdomain'),
	'section'  => 'main_menu_settings',
	'default'  => '',
));

Kirki::add_field('theme_config_id', array(
	'type'     => 'text',
	'settings' => 'button_label',
	'label'    => __('Button Label', 'textdomain'),
	'section'  => 'main_menu_settings',
	'default'  => '',
));

Kirki::add_field('theme_config_id', array(
	'type'     => 'text',
	'settings' => 'button_link',
	'label'    => __('Button Link', 'textdomain'),
	'section'  => 'main_menu_settings',
	'default'  => '',
));

Kirki::add_field('theme_config_id', array(
	'type'     => 'select',
	'settings' => 'button_target',
	'label'    => __('Button Target', 'textdomain'),
	'section'  => 'main_menu_settings',
	'default'  => '_self',
	'choices'  => array(
			'_self'  => __('Same Tab', 'textdomain'),
			'_blank' => __('New Tab', 'textdomain'),
	),
));


// functions.php

function custom_shortcode_output() {
    $menu_title       = get_theme_mod('menu_title', '');
    $menu_description = get_theme_mod('menu_description', '');
    $button_label     = get_theme_mod('button_label', '');
    $button_link      = get_theme_mod('button_link', '');
    $button_target    = get_theme_mod('button_target', '_self');

    ob_start();
    ?>
    <div class="glue-grid__col glue-grid__col--span-5 nav-dropdown-modal--content-heading" id="dropdown-modal-3-label">
        <h1 class="glue-headline glue-headline--headline-3 glue-grey-700">
            <?php echo esc_html($menu_title); ?>
            <span class="decorated-text">
                <img class="circle" role="presentation" src="https://kstatic.googleusercontent.com/files/27b9d1efc0c3e55e59edb4f7b5d12d102eba9cf34e1b3e8ba92311ab847ac34324285de403565b06eb66f3ac5345d984c6dde666b93abc97409469f93a5c8433">
            </span>
        </h1>
        <p class="glue-body glue-mod-spacer-3-top glue-grey-700 nav-dropdown-modal--content-desc" id="dropdown-modal-3-content">
            <?php echo esc_html($menu_description); ?>
        </p>
        <a class="nav-dropdown-modal--cta glue-mod-spacer-3-top glue-button glue-button--high-emphasis" href="<?php echo esc_url($button_link); ?>" aria-label="<?php echo esc_attr($button_label); ?>" role="button" data-link="<?php echo esc_url($button_link); ?>" target="<?php echo esc_attr($button_target); ?>">
            <?php echo esc_html($button_label); ?>
        </a>
    </div>
    <?php
    return ob_get_clean();
}
add_shortcode('custom_shortcode', 'custom_shortcode_output');