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.genesis-nav-menu .widget-area {
    float: right;
    padding-top: 1.5rem;
}

genesis_register_sidebar( array(
	'id'          => 'nav-social-menu',
	'name'        => __( 'Nav Social Menu', 'your-theme-slug' ),
	'description' => __( 'This is the nav social menu section.', 'your-theme-slug' ),
) );

add_filter( 'genesis_nav_items', 'sws_social_icons', 10, 2 );
add_filter( 'wp_nav_menu_items', 'sws_social_icons', 10, 2 );

function sws_social_icons($menu, $args) {
	$args = (array)$args;
	if ( 'primary' !== $args['theme_location'] )
		return $menu;
	ob_start();
	genesis_widget_area('nav-social-menu');
	$social = ob_get_clean();
	return $menu . $social;
}