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[mank319]

You can build your own menu using your own function, but no.
you can use the filter "menuitems" to filter the html before it is returned.
or use output_buffering to grab the html from the function return.

Thanks for the reply!
Well building my own menu (like e.g. Nested Menu does) is what I tried to avoid, because that would rely on changing theme code aswell. I prefer to keep the plugin as modular and independent as possible.
Glad to hear, that using the "menuitems" filter is the proper procedure to achieve it, because that's what my plugin already does :-)