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Ideally, don't use the menu system for custom drawing, just hide the menu and draw directly on the lcd display. Then after the time elapses, show the menu again.

If you don't call setScreen in the setup function, the menu will not be drawn, you can then just draw on the menu, then after X seconds call setScreen

lcd.setCursor(0, 0);
lcd.write("Splash Screen");
lcd.setCursor(0, 1);
lcd.write("v1.0");
delay(2000);
menu.setScreen(mainScreen);

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Answer selected by forntoh
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