Use menu title for ID attribute instead of an number in WordPress's wp_nav_menu output

custom_nav_menu_item_id.php

<?php

/**
 * Use menu title for ID attribute instead of an number.
 *
 * Sanitizes the menu item's title to get a valid string for use in an ID
 * attribute.
 */
function custom_nav_menu_item_id($id, $item) {
    $title = sanitize_title_with_dashes($item->title);
    return 'menu-item-'.$title;
}

add_filter('nav_menu_item_id', 'custom_nav_menu_item_id', 10, 2);