Using anchor ID's on one page menu works until I add a new page. Workarounds?

So I have a website using a One Page demo. I have all the sections laid out perfectly using Section ID’s so when they click on the menu items it scrolls to the appropriate section of the website. However, I added an additional “About Us” page that is separate from the main page. Since the custom links on the menu only link to things like #menu, #breakfast, #lunch, etc. once I am at the about me page and click on those items, it does not bring me back to the main page.

To remedy this, I tried changing the custom link URL on the menu to include the full site ie: https://mysite.com/#menu, https://mysite.com/#breakfast, etc. This solved the issue of getting back to the main page from the about us page, but it then ruins the scrolling down to each section, and will now reload the website at each section since each menu item is now a separate website link.

So is there any workaround for this? I want to be able to have the smooth scrolling transitions on the home page by clicking through menu items, but also have a separate about us page that will be able to navigate back to the main page if I click those menu items. Is there any way to have a different main menu for different pages? That way I would be able to use the full URL links when on the about us page, but use just the short IDs while on the main page?

Thanks.