It really depends on the mechanics of the game for me, and what are the frequency of needing various functions. I look to the evolution of the Dragon Warrior/Quest games for reference. The “stairs” option was hilariously tedious, and “take” was duplicative when “open” did the job just as well for treasure chests that you had to stand on. Which brings me to another point, some functions are so common that a menu option is excessive: being able to talk or open a chest by walking up to the person/treasure and hitting A made more sense than opening the menu to talk or open. Dragon Warrior I also had a door function, and Dragon Warrior II made you use the specific key to open a type of door, whereas I believe future games just made opening the door automatic if you had the means to open the door.
The same applies in planning a menu: figure out every action that can be performed, figure out how some can be collapsed into one another, and identify which actions are so common that it shouldn’t necessitate menu access in the first place.