Hi,

You can achieve that using ir.actions.todo

Try to create records like below in your custom module.

<record id="action_client_base_menu" model="ir.actions.client">

    <field name="name">Your Client action name</field>

    <field name="tag">reload</field>

    <field name="params" eval="{'menu_id': ref('your_module_name.menuitem_id')}"/>

</record>

<record id="open_menu" model="ir.actions.todo">

  <field name="name">Open Menu</field>

  <field name="action_id" ref="action_client_base_menu"/>

  <field name="sequence">100</field>

  <field name="state">open</field>

</record>

Regards