How should I approach showing a menu of other posts matching the custom taxonomy

I couldn’t find a plugin that could do this, and so far my abilities are limited to registering new sidebars and manually adding menus to display on specific pages/posts via logic. I’m sure this is the absolute worst way to do it.

the site is a monthly recipe magazine, I have a CPT for recipes with a 2 taxonomies, one for the issue and one for the type of recipe (dessert, entree, etc..).

I would like to show a nav menu in the sidebar when on a recipe post page which shows other recipes from the same issue and also organized by type, like so:

This Issue’s recipes (title and author)

type 1

– recipe 1
– recipe 2

type 2

– recipe 1
– recipe 2

type 3

– recipe 1
– recipe 2

this would need to generate dynamically depending on which issue you are viewing.

Should I be using wp list categories, a custom walker class a wp_query? are there many ways to do this, if so which is better. Any help is appreciated.