Change Menu Depending on Page / Parent

I have a website that serves two locations of the same restaurant. (The locations are “sixthstreet” and “mueller.”) Each location’s content is unique. They share nothing but the homepage. This is a standard WordPress site not a multisite.

I use WPR Menu. (That may or may not be important here.) It requires that I tell it which menu to insert into it. For this example, let’s say the menu I’ve told it I’m using is “universal-menu.”

I want to insert the “sixthstreet” into “universal-menu” when the parent or page name is “sixthstreet” and insert “mueller” when the parent or page name is “mueller.”

Is there a way to do this or another way altogether to accomplish this goal?

Thanks.