Components
Rendering a menu in a form requires a little bit more lines of code than rendering a View, but it is also very easy thanks to the menu.link_tree service. In the following example, we are rendering the main menu.
use Drupal\Core\Menu\MenuTreeParameters;
$menu_parameters = new MenuTreeParameters();
$manipulators = [
['callable' => 'menu.default_tree_manipulators:checkNodeAccess'],
['callable' => 'menu.default_tree_manipulators:checkAccess'],
['callable' => 'menu.default_tree_manipulators:generateIndexAndSort'],
];
$tree = \Drupal::menuTree()->load('main', $menu_parameters);
$tree = \Drupal::menuTree()->transform($tree, $manipulators);
$form['content'] = \Drupal::menuTree()->build($tree);