WP hierarichal menu of any post type. posts are auto added, like pages can be

wp_menu_auto_post_type.php

//hijack menu and output a whole post type in hierarchical order.
//post type must have hierarchical order capability and menu name must match post type
//add post types for this inside $post_types below

add_filter( 'wp_get_nav_menu_items', 'cpt_auto_add_menu', 10, 3 );
function cpt_auto_add_menu( $items, $menu, $args ) {

	$post_types = array( 'add_post_types', 'that_you_want' );
	$menu_slug  = $menu->slug;

	if ( in_array( $menu_slug, $post_types ) ) {
		$menu_order = 1;
		$pages      = get_pages(
			array(
				'post_type'   => $menu_slug,
				'sort_column' => 'menu_order'
			)
		);

		$items = $pages;
		//add the menu stuff
		foreach ( $items as $item ) {
			$item->menu_item_parent = $item->post_parent;
			$item->post_type        = 'nav_menu_item';
			$item->object           = $menu_slug;
			$item->type             = 'post_type';
			$item->title            = $item->post_title;
			$item->url              = get_permalink( $item->ID );
			$item->menu_order       = $menu_order ++;
			$item->object_id        = $item->ID;
			$item->db_id            = $item->ID;
			$item->classes          = array();
			$item->xfn              = '';
		}

	}
	
	return $items;
}