[Plugin: Add Descendants As Submenu Items] Add based on categories

Hi,
I’ve just found this plugin and it looks very promising, but is it possible to add pages based on categories?

So for example, if i have a page (custom post type) with a certain category, it gets added under the category item in the menu.

Is this possible?

Thanks

https://www.ads-software.com/extend/plugins/add-descendants-as-submenu-items/