diff --git a/src/wp-includes/class-wp-query.php b/src/wp-includes/class-wp-query.php
index 7af38f135b..8525987454 100644
--- a/src/wp-includes/class-wp-query.php
+++ b/src/wp-includes/class-wp-query.php
@@ -3268,10 +3268,6 @@ class WP_Query {
 			wp_cache_set( $cache_key, $cache_value, 'posts' );
 		}
 
-		if ( ! empty( $this->posts ) && $q['update_menu_item_cache'] ) {
-			update_menu_item_cache( $this->posts );
-		}
-
 		if ( ! $q['suppress_filters'] ) {
 			/**
 			 * Filters the raw post results array, prior to status checks.
@@ -3466,6 +3462,10 @@ class WP_Query {
 			$this->posts      = array();
 		}
 
+		if ( ! empty( $this->posts ) && $q['update_menu_item_cache'] ) {
+			update_menu_item_cache( $this->posts );
+		}
+
 		if ( $q['lazy_load_term_meta'] ) {
 			wp_queue_posts_for_term_meta_lazyload( $this->posts );
 		}
diff --git a/tests/phpunit/tests/post/nav-menu.php b/tests/phpunit/tests/post/nav-menu.php
index d20c9a5a86..b9bca49318 100644
--- a/tests/phpunit/tests/post/nav-menu.php
+++ b/tests/phpunit/tests/post/nav-menu.php
@@ -265,6 +265,90 @@ class Tests_Post_Nav_Menu extends WP_UnitTestCase {
 		$this->assertSameSets( array( $term_id ), $last[1], '_prime_term_caches() was not executed.' );
 	}
 
+
+	/**
+	 * @ticket 55620
+	 * @covers ::update_menu_item_cache
+	 */
+	public function test_wp_get_nav_menu_items_cache_primes_posts() {
+		$post_ids     = self::factory()->post->create_many( 3 );
+		$menu_nav_ids = array();
+		foreach ( $post_ids as $post_id ) {
+			$menu_nav_ids[] = wp_update_nav_menu_item(
+				$this->menu_id,
+				0,
+				array(
+					'menu-item-type'      => 'post_type',
+					'menu-item-object'    => 'post',
+					'menu-item-object-id' => $post_id,
+					'menu-item-status'    => 'publish',
+				)
+			);
+		}
+
+		// Delete post and post meta caches.
+		wp_cache_delete_multiple( $menu_nav_ids, 'posts' );
+		wp_cache_delete_multiple( $menu_nav_ids, 'post_meta' );
+		wp_cache_delete_multiple( $post_ids, 'posts' );
+		wp_cache_delete_multiple( $post_ids, 'post_meta' );
+
+		$action = new MockAction();
+		add_filter( 'update_post_metadata_cache', array( $action, 'filter' ), 10, 2 );
+
+		$start_num_queries = get_num_queries();
+		wp_get_nav_menu_items( $this->menu_id );
+		$queries_made = get_num_queries() - $start_num_queries;
+		$this->assertSame( 7, $queries_made, 'Only does 7 database queries when running wp_get_nav_menu_items.' );
+
+		$args = $action->get_args();
+		$this->assertSameSets( $menu_nav_ids, $args[0][1], '_prime_post_caches() was not executed.' );
+		$this->assertSameSets( $post_ids, $args[1][1], '_prime_post_caches() was not executed.' );
+	}
+
+	/**
+	 * @ticket 55620
+	 * @covers ::update_menu_item_cache
+	 */
+	public function test_wp_get_nav_menu_items_cache_primes_terms() {
+		register_taxonomy( 'wptests_tax', 'post', array( 'hierarchical' => true ) );
+		$term_ids     = self::factory()->term->create_many( 3, array( 'taxonomy' => 'wptests_tax' ) );
+		$menu_nav_ids = array();
+		foreach ( $term_ids as $term_id ) {
+			$menu_nav_ids[] = wp_update_nav_menu_item(
+				$this->menu_id,
+				0,
+				array(
+					'menu-item-type'      => 'taxonomy',
+					'menu-item-object'    => 'wptests_tax',
+					'menu-item-object-id' => $term_id,
+					'menu-item-status'    => 'publish',
+				)
+			);
+		}
+		// Delete post and post meta caches.
+		wp_cache_delete_multiple( $menu_nav_ids, 'posts' );
+		wp_cache_delete_multiple( $menu_nav_ids, 'post_meta' );
+		// Delete term caches.
+		wp_cache_delete_multiple( $term_ids, 'terms' );
+		$action_terms = new MockAction();
+		add_filter( 'update_term_metadata_cache', array( $action_terms, 'filter' ), 10, 2 );
+
+		$action_posts = new MockAction();
+		add_filter( 'update_post_metadata_cache', array( $action_posts, 'filter' ), 10, 2 );
+
+		$start_num_queries = get_num_queries();
+		wp_get_nav_menu_items( $this->menu_id );
+		$queries_made = get_num_queries() - $start_num_queries;
+		$this->assertSame( 7, $queries_made, 'Only does 7 database queries when running wp_get_nav_menu_items.' );
+
+		$args = $action_terms->get_args();
+		$last = end( $args );
+		$this->assertSameSets( $term_ids, $last[1], '_prime_term_caches() was not executed.' );
+
+		$args = $action_posts->get_args();
+		$this->assertSameSets( $menu_nav_ids, $args[0][1], '_prime_post_caches() was not executed.' );
+	}
+
 	/**
 	 * @ticket 13910
 	 */