Of course, WP Travel plugin provides the feature regarding adding trips(which has been created) in the menu. You can add trips in the menu by going to Admin panel > Appearance > Menus
You have to checked in the Trips option under Screen Options so that Trips option will be appeared under Add menu item section as shown in screenshot below.
You can add trips in menu as main menu item as mentioned above as well as can add trips in menu as sub menu item.
For detail assistance, please refer screen record.
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