Alexander Käßner uploaded a concept video called iPad Main Menu. On Reddit he says it’s the result of a bachelor thesis. It introduces app menus that are accessible with an always-present icon on the dock, and/or a three-finger tap. It’s similar to the right-click menu we see on macOS. I love it because it gives you quick access to all app settings, which end up in different locations depending on the whim of the developer (hamburger menus notwithstanding). Main Menu is consistent.
The main menu is split into two columns. We find the most common actions on the left, such as cut/copy/paste, and app-specific features are on the right. Main Menu also works with a keyboard, so you “never lift a finger again.”
Update: Mr. Käßner also has a website for the concept here.