Get WordPress menu items data and render in a custom loop

functions.php

<?php if ( has_nav_menu( 'how-can-we-help-you' ) ) :

  $menu_slug  = get_term( get_nav_menu_locations()['how-can-we-help-you'], 'nav_menu' )->slug;
  $menu_items = wp_get_nav_menu_items( $menu_slug );
  ?>

  <ul>
      <?php foreach ( $menu_items as $menu_item ) : ?>
        <li><a href="<?= $menu_item->url; ?>"><?= $menu_item->title; ?></li>
      <?php endforeach; ?>
  </ul>
  
<?php endif; ?>