How to make secondary navigation menu mobile responsive in Genesis

In the comments section of How to add a responsive mobile menu before footer in Focus Pro, a user asked:

I need to add a menu similar to the one in this tutorial and doesn’t seem to be working with the current sample theme – I think it’s because the responsive code is different in the current sample theme, now combining the primary nav + header (widget area) menus and deals with accessibility. So how would this tutorial change to take those things into account?

It is quite simple to get the accessible hamburger menu working for .nav-secondary in Genesis Sample 2.3. All we have to do is pass the nav menu’s class as the value for the others key in $settings array inside genesis_sample_responsive_menu_settings() in functions.php.

i.e., change

// Define our responsive menu settings.
function genesis_sample_responsive_menu_settings() {

    $settings = array(
        'mainMenu'          => __( 'Menu', 'genesis-sample' ),
        'menuIconClass'     => 'dashicons-before dashicons-menu',
        'subMenu'           => __( 'Submenu', 'genesis-sample' ),
        'subMenuIconsClass' => 'dashicons-before dashicons-arrow-down-alt2',
        'menuClasses'       => array(
            'combine' => array(
                '.nav-primary',
                '.nav-header',
            ),
            'others'  => array(),
        ),
    );

    return $settings;

}

to

// Define our responsive menu settings.
function genesis_sample_responsive_menu_settings() {

    $settings = array(
        'mainMenu'          => __( 'Menu', 'genesis-sample' ),
        'menuIconClass'     => 'dashicons-before dashicons-menu',
        'subMenu'           => __( 'Submenu', 'genesis-sample' ),
        'subMenuIconsClass' => 'dashicons-before dashicons-arrow-down-alt2',
        'menuClasses'       => array(
            'combine' => array(
                '.nav-primary',
                '.nav-header',
            ),
            'others'  => array( '.nav-secondary' ),
        ),
    );

    return $settings;

}

The result:

Before:

Note: To get rid of top border above the menu icon, in style.css add

.site-footer .menu-toggle {
    border-top: none;
}

above

.menu-toggle,
.menu-toggle:focus,
.menu-toggle:hover {
    border-top: 1px solid #eee;
}

in the 1023px media query.