This should work:

add_filter( \'wp_get_nav_menu_items\', \'cpt_locations_filter\', 10, 3 );

function cpt_locations_filter( $items, $menu, $args ) {
  $child_items = array(); 
  $menu_order = count($items); 
  $parent_item_id = 0;

  foreach ( $items as $item ) {
    if ( in_array(\'locations-menu\', $item->classes) ){ //add this class to your menu item
        $parent_item_id = $item->ID;
    }
  }

  if($parent_item_id > 0){

      foreach ( get_posts( \'post_type=cpt-post-type-here&numberposts=-1\' ) as $post ) {
        $post->menu_item_parent = $parent_item_id;
        $post->post_type = \'nav_menu_item\';
        $post->object = \'custom\';
        $post->type = \'custom\';
        $post->menu_order = ++$menu_order;
        $post->title = $post->post_title;
        $post->url = get_permalink( $post->ID );
        array_push($child_items, $post);
      }

  }

  return array_merge( $items, $child_items );
}