add social icons to primary menu

Is there any way to customize the theme so that I can add social icons to my main menu instead of to the top bar or footer menus?

I’ve only found one plugin that allows me to add icons to a menu, and it doesn’t work. All the others are for widgets only, and I’d really like to have them in the menu instead.

Is there a workaround to get the icons in the primary menu?

Thanks so much!