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<?php

// Define the WP query
$args = array(
    'post_type' => 'custom-post-type-name',//Swap in your CPT
    'posts_per_page' => -1,
);

$query = new WP_Query( $args );

if ($query->have_posts()) {
     
    // Output the post titles in a list
    echo '<ul id="cpt-menu">';
     
        // Start the Loop
        while ( $query->have_posts() ) : $query->the_post(); ?>
 
        <li class="cpt-menu-item" id="post-<?php the_ID(); ?>">
            <a href="<?php the_permalink(); ?>"><?php the_title(); ?></a>
        </li>
         
        <?php endwhile;
         
        echo '</ul>';       
}
     
// Reset the WP Query
wp_reset_postdata();

?>