I would like to create a menu system similar in function to the one on

http://fearlessliving.com/

but run into the problem that I can not see that any of the available menu modules generate both taxonomy and belonging page/node links. The only way I can see to get node links in the menu is using the taxonomy menu module and then add the page links manually in the menu module. It works, but adding the pagelinks manually for each page in the menu module is not an elegant solution. Is there a better way? How did fearless living do it?

Thanks and regards

Sten