Hi Leo and Tom,
Yes, I basically want the cart to have the same style as the menu items, but it does not work with Customizer > Colors > Primary Navigation.
Anyways, I did how Tom says and now I have the cart with the same style as the menu items except for the hover. I tried to add this code but it does not work either:
.woocommerce-cart .main-navigation .mobile-bar-items.wc-mobile-cart-items a:hover {
color: #f1c40f;
}