Class is added to <li> parent of the menu item.
// Add class to menu item using the featured image
add_filter('nav_menu_css_class', function( $classes, $item ) {
if( $item ) {
// vars
$bgImg = get_field('use_featured_image', $item); // name of custom field
// check for image
if( $bgImg ) {
$classes[] = 'featured-img-bg';
}
}
// return
return $classes;
}, 10, 2);