Multiple Custom Taxonomies ?

And I think it’s better to detect current taxonomy type and generate $taxonomy value dynamically, instead of manually change it. But these behavior may not fit the plugin structure and not easy for me to achieve. Need some help here. Thanks.

I’ve tried and make something available for my scenario:
Create a parent level term above others in My Custom Taxonomy.
Use taxonomy-term instead of custom-post-type-archive in Menu,
and works fine (even with several different taxonomies).

function custom_taxonomy( $taxonomy, $widget_args, $widget_values, $menu_class){
    global $post;
    $taxonomy_names = get_object_taxonomies( $post );
    $taxonomy = $taxonomy_names[0];
    return $taxonomy;
}
add_action('advanced_sidebar_menu_taxonomy','custom_taxonomy', 10, 4);