Create a custom wordpress menu shows a list of posts as sub menu based on its parent menu items (categories) and display using a shortcode

I have a custom post-types called products that contain a list of products.

I have created a menu called hierarchical menu in wordpress dashboard > appearance > menus as illustrated below:

Electronics
  -> Camera
  -> Headphones
  -> Tv accessories
Computers
  -> Monitors
  -> Keyboards
  -> Mouse
Stationaries
  -> Pen
  -> Pencil
  -> Notebooks
-> Paper

I need to create and display a custom menu using shortcode for eg., If I click on camera it displays a list of posts from Product post type with categories of electronics, camera as a submenu

Electronics
-> Camera
  --> list of posts with categoreis Electronics / Camera (dynamic)

I am not sure how to go about creating this. I use below code to generate the menu and display using shortcode. But I have zero clue on how to dynamically show the list of posts based on its parent criteria. Any help / Guidance greatly appreciated would be greatly appreciated.

function custom_hierarchical_menu($atts) {
    $menu_html = wp_nav_menu( array(
        'menu'   => 'Hierarchy Desktop Menu',
        'echo'   => false, // Set 'echo' to false to store the HTML in $menu_html
    ) );
}
add_shortcode('customHierarchicalMenu', 'custom_hierarchical_menu');