Quick answer: Follow the steps in this article to deeplinks - Creating Deep Links.
Deeplinks can be created to link to Categories or Products. This can only be done at the ALL STORE LEVEL.
Menu deep links to categories/products only work at the ALL STORE LEVEL.
If the venue is POS integrated and with multi locations on the console, it cannot work since menus are imported on store level of each store.
Note: Domain URL can be either the Nomni Ordering URL or the Vanity (C-Name) URL or the client once setup in the console
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