Wordpress Dynamically Generated Menu

I am currently looking for a freelancer that has good knowledge with both PHP and Wordpress and how it works. I will soon be opening up a website and the core functionality of Wordpress Menus do not provide me what I am looking for / what my goal is. I am using Wordpress as a CMS system for my website, under each category there will be sub-categories and possibly sub-categories after that. So, when I post an article in the "Guides" section, I would like that article and any other article in the "Guides" section to be displayed underneath "Guides" on the navigation bar. Essentially, I want a plugin that will dynamically generate what articles are within that category, and display them as menu options. I would also like this to be in Plugin format, so I can easily activate it and deactivate it easily should I need to. Any options (e.g exempting certain categories) can be in the head of the php file that is fine. If you feel you are up to the job please post below, budget is final