Remove default GLPI dashboard links (Revert to < 9.5 links) and add a new entry for the dashboards.

hook.php

<?php

function plugin_menu94_install()
{
   return true;
}

function plugin_menu94_uninstall()
{
   return true;
}

function plugin_menu94_redefine_menus($menu)
{
   // Revert Assets default menu option
   $menu['assets']['default'] = Computer::getSearchURL(false);
   // Add Assistance dashboard link only if the user has rights
   if (\Glpi\Dashboard\Dashboard::canView()) {
      $menu['assets']['content'][strtolower(\Glpi\Dashboard\Dashboard::class)] = [
         'title'  => 'Dashboard',
         'icon'   => 'fas fa-tachometer-alt',
         'page'   => '/front/dashboard_assets.php',
         'links'   => ['search' => '/front/dashboard_assets.php']
      ];
   }
   // Revert Assistance default menu option
   $menu['helpdesk']['default'] = Ticket::getSearchURL(false);
   // Add Assistance dashboard link only if the user has rights
   if (\Glpi\Dashboard\Dashboard::canView()) {
      $menu['helpdesk']['content'][strtolower(\Glpi\Dashboard\Dashboard::class)] = [
         'title'  => 'Dashboard',
         'icon'   => 'fas fa-tachometer-alt',
         'page'   => '/front/dashboard_helpdesk.php',
         'links'   => ['search' => '/front/dashboard_helpdesk.php']
      ];
   }
   return $menu;
}

setup.php

<?php

define('PLUGIN_MENU94_VERSION', '1.0.0');
define('PLUGIN_MENU94_MIN_GLPI', '9.5.0');
define('PLUGIN_MENU94_MAX_GLPI', '9.6.0');

function plugin_init_menu94() {
   global $PLUGIN_HOOKS;

   $PLUGIN_HOOKS['csrf_compliant']['menu94'] = true;
   $PLUGIN_HOOKS['redefine_menus']['menu94'] = 'plugin_menu94_redefine_menus';
}

function plugin_version_menu94() {

   return [
      'name'    => '9.4 Style Menu',
      'version' => PLUGIN_MENU94_VERSION,
      'author'  => 'Curtis Conard',
      'license' => 'GPLv2',
      'homepage'=>'https://github.com/cconard96/',
      'requirements'   => [
         'glpi'   => [
            'min' => PLUGIN_MENU94_MIN_GLPI,
            'max' => PLUGIN_MENU94_MAX_GLPI
         ]
      ]
   ];
}

function plugin_menu94_check_prerequisites() {
   if (!method_exists('Plugin', 'checkGlpiVersion')) {
      $version = preg_replace('/^((\d+\.?)+).*$/', '$1', GLPI_VERSION);
      $matchMinGlpiReq = version_compare($version, PLUGIN_MENU94_MIN_GLPI, '>=');
      $matchMaxGlpiReq = version_compare($version, PLUGIN_MENU94_MAX_GLPI, '<');
      if (!$matchMinGlpiReq || !$matchMaxGlpiReq) {
         echo vsprintf(
            'This plugin requires GLPI >= %1$s and < %2$s.',
            [
               PLUGIN_MENU94_MIN_GLPI,
               PLUGIN_MENU94_MAX_GLPI,
            ]
         );
         return false;
      }
   }
   return true;
}

function plugin_menu94_check_config()
{
   return true;
}