This is a great plugin but I was trying to list terms from a hierarchical custom taxonomy and the problem was that it was not listed in the taxonomy dropdown.
Looking into the code I found the problem on line 139:
$taxonomies = get_taxonomies( array( 'show_tagcloud' => true ), 'objects' );
get_taxonomies to return only tag-like taxonomies. I decided to go for a quick fix by simply removing the first parameter. Thus making
$taxonomies = get_taxonomies( '', 'objects' );
And that returns all the taxonomies. Nav menus are also included but I didn't experiment on listing any of them.