Use both navigation logo and site title in menu.

I would like to use a navigation logo in the main menu, but I also want the site title to appear there. Like this:
My Website
Screenshot

Right now I have done this by adding jQuery to header.php in my child theme:

<?php $site_title = get_bloginfo( 'name' );?>
<script>
jQuery(function() {
    jQuery('#site-navigation > div > div.site-logo.sticky-logo.navigation-logo > a > img').after('<span class="site-nav-title"><?php echo $site_title; ?></span>');
});
</script>

I don't really like this method though, and I would prefer to modify the PHP/HTML if possible. I'm not sure which file to change or what to do. How would you suggest I do this? Or is there perhaps a built-in GeneratePress way to do this that I didn't notice?