Figured it out, these are the css properties that need to be able to be adjusted via the customize option, would make it easier for a lot of people:
.main-navigation {
background-color: #eb5721;
}
.main-navigation a {
color: #000000;
}
.main-navigation a:hover {
color: #fff;
}
.main-navigation li.current-menu-item > a,
.main-navigation li.current_page_item > a,
.main-navigation li.current-menu-parent > a,
.main-navigation li.current_page_parent > a,
.main-navigation li.current-menu-ancestor > a,
.main-navigation li.current_page_ancestor > a {
color: #fff;
}