If I’m understanding correctly, I’d just create a link to the CPT archive url for your menu so that people can click that and browse all of the CPT posts. Let me know if I’m not quite following correctly though.
In reference to these instructions:
“Show UI” must be “true”. If an existing top level page such as “tools.php” is indicated for second input, post type will be sub menu of that.
When I create a CPT using your plugin, it creates a top-level menu by default. But if I want to slot in a related CPT as a sub-menu, how do I know the name of the PHP file of the top-level item?
From a quick tutorial, http://wpsnipp.com/index.php/functions-php/display-custom-post-type-menu-as-submenu/, and a moment of tinkering, setting the show_in_menu text field to the following should do the job.
edit.php?post_type=my_post_type_slug