eebiggs, I am sure you have heard about Popovers in Dorico, like Shift-D for dynamics. That’s probably even better than a menu, because instead of following menu suggestions, you can just write your intended dynamic.
You might be interested to read a conversation between a new Finale convert and Daniel Spreadbury, chief developer of Dorico. This conversation is 8 years old, and the then Finale convert is now one of the most proficient Dorico users: