Just wanted to note on @MacSparky’s Paletro recommendation; if you want to keep it “in house”; ie: using existing tools, I’ve had a pretty great experience with this Alfred workflow that searches the menu bar.
I also have also been toying with Homerow, which is probably more developer focused (not a developer), but it basically assigns a keyboard shortcut to every clickable item in the current app. Obviously dependent on the app, but it helps me keep my hands on the keyboard for sure.