Refer to the template below, how to add condition to make sure the menu is not undefined inside the v-for attribute? 
I've tried v-for="menu?item in menu.items:[]" and v-for="item in menu?.items" but neither works.
<div v-for="item in menu.items">{{item.text}}</div>
                Put the div with the v-for directive within a <template> that checks for menu via v-if:
<template v-if="menu">
  <div v-for="item in menu.items">{{ item.text }}</div>
</template>
This way, the div inside the template won't be rendered if menu does not exist. 
If you really want the check within the v-for statement, like you are attempting, it would look like this: 
<div v-for="item in (menu ? menu.items : [])">{{ item.text }}</div>
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