Add Menu endpoint in wp-kit/rest-kit, if you don't want to use plugins/wp-rest-api-v2-menus

ApiController.php

<?php

#resources/controllers/ApiController.php
public static function getMenu($request) {
		
    $menu = [];

    foreach(get_nav_menu_items_by_location($request->get_param('menu')) as $item) {

        $item->path = parse_url($item->url, PHP_URL_PATH);

        array_push($menu, $item);
    }

    return $menu;
	
}

menu-functions.php

<?php

#resources/functions/menu-functions.php
function get_nav_menu_items_by_location( $location, $args = [] ) {
 
    // Get all locations
    $locations = get_nav_menu_locations();
 
    // Get object id by location
    $object = wp_get_nav_menu_object( $locations[$location] );
 
    // Get menu items by menu name
    $menu_items = wp_get_nav_menu_items( $object->name, $args );
 
    // Return menu post objects
    return $menu_items;
}

routes.php

<?php

#resources/routes.php
rest_route( 'wp/v2', '/menu', [Theme\Controllers\ApiController::class, 'getMenu'] );