I have created a lightning component and implemented forceCommunity:availableForAllPageTypes in the component tag.
We are using Customer Service Template. What I want is to add the component in the Navigation Menu. However I do not find any option for the same. Will it be possible to add the Component in the Navigation Menu?
Internal URL is the right choice. You define the URL when you create the page
Later if you want to see or edit the URL, pick the page from the Page-Picklist in the top and then make just sure, that under PAGE STRUCTURE the page-name itself is selected. You see the Name and URL (editable) in the property editor at the right sidebar. The URL is labeled Vanity URL
Step 3 of the documentation/blog post you linked:
Step 3: Go to the Community Management console and update your administrative settings, topics, moderation criteria, etc. as these do not carry over automatically.
is outdated as of recently:
NavigationMenu is available as of version 47 to migrate custom navigation menus created using Community Builder.
However, the change set still does not cover everything, you will still have to modify some things manually through the builder.
Best Answer
One can add the Lightning component to a Communities page and include that page in the navigation bar, but there is no way to directly add the component to the menu.
For info on adding components to Communities pages, see this page:
Configure Components for Communities