$menu_name = 'sidebar-menu'; //menu slug
$locations = get_nav_menu_locations();
$menu = wp_get_nav_menu_object( $locations[ $menu_name ] );
$menuitems = wp_get_nav_menu_items( $menu->term_id, array( 'order' => 'DESC' ) );

echo "
";
print_r($menuitems);
echo "
";