Content Access module hiding menu links
The main purpose of the access content system is to have control of what every user can see and avoid every possible security issue. This is the desired behavior and almost every module or general ApI uses it, so you won't find default solutions for this. 

I've been in the same situation and the only solution I found was to create a custom modules and, in my case, query directly to the menu table to get all the elements I want, and check the permissions myself to either display a link, or simply a title of the content when the user don't have permissions to see it.