This can be done by adding menus. ( Dashboard >> Appearance >> Menus ). as you may see there is a list of taxonomies. you just need to add them into the menu list. If you cannot see the Listing Categories tab, please click on the ‘Screen Options’ button on the right side at the top ..
In Item taxonomy, there are ‘Amenities’,’Categories’,’Locations’. Please move to Dashboard >> Listings >> the taxonomy which you want to add. Please input the name, slug, and description as you wish and add them. (Regarding category, you can set up a map marker as well.) – When you make a category, you can set up the map marker,featured image, ..