It wouldn’t be possible to do automatically, but you could use the ‘hide on desktop’ option to achieve this. Your menu structures would look something like this:
Menu 1 (visible on desktop and mobile):
Link A
Link B
Link C
Link D (hide on desktop)
Link E (hide on desktop)
Link F (hide on desktop)
Menu 2 (visible on desktop only):
Link D
Link E
Link F