Hi Richard,
Yes, this can be done using the s2Member Advanced PHP Conditionals (see Dashboard -› s2Member® -› API / Scripting -› Advanced PHP Conditionals).
You’ll need to edit your WordPress theme file where the menu is generated (probably the header.php file) and insert the code in there. For example:
<?php if (current_user_is("s2member_level4")){ ?>
Code to display menu for Level 4 Members goes here
<?php } else if (current_user_is("s2member_level3")){ ?>
Code to display menu for Level 3 Members goes here
<?php } else if (current_user_is("s2member_level2")){ ?>
Code to display menu for Level 2 Members goes here
<?php } else if (current_user_is("s2member_level1")){ ?>
Code to display menu for Level 1 Members goes here
<?php } else if (current_user_is("s2member_level0")){ ?>
Code to display menu for Level 0 Members (i.e., free subscribers) goes here
<?php } else { ?>
Code to display menu for non-members (i.e., users who are not logged in) goes here
<?php } ?>