MarketPress Product Categories in Custom Menu

Happy New Year!
I'm building a new store using MarketPress (wordpress 3.3, MarketPress 2.4.2) and I'd like to be able to use my Product categories for my main site navigation. Ideally I'd like to be able to access the categories in a custom menu, and have them dynamically update when I create categories or remove them. My current plan is to use Custom Links in a Custom Menu, but that would be a little too labor intensive.

Any suggestions?

Thanks!
Nathan White