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<!-- Create menu -->
add_theme_support(
	'genesis-menus', array(
		'utility'   => __( 'Utility Menu', 'example' )
	)
);

<!-- Show menu in theme -->
add_action( 'genesis_before_header', 'utility_menu', 20 );
function utility_menu() {
	
	$args = array(
	'menu' => 'utility',
	'menu_class' => 'menu genesis-nav-menu',
	'container_class' => 'wrap'
	);

	echo '<nav class="nav-utility">';
	wp_nav_menu( $args );
	echo '</nav>';
}