I'm posting my solution in case anyone else need help with something similar. It's not 100% perfect but it works :)
You can take a look at the result here: http://www.hallstensen.com/menuadapter/
This is only gonna work with a menu of maximum 2 tiers.
Here's how to set it up:
1. ASPX file:
<asp:Menu ID="Menu1" runat="server" DataSourceID="SiteMapDataSource1"
Orientation="Horizontal"
CssSelectorClass="nav"
StaticDisplayLevels="2">
</asp:Menu>
<asp:SiteMapDataSource ID="SiteMapDataSource1" runat="server" ShowStartingNode="false" />
2. Web.sitemap:
<siteMap xmlns="http://schemas.microsoft.com/AspNet/SiteMap-File-1.0" >
<siteMapNode url="" title="Menu" description="">
<siteMapNode url="~/Default.aspx" title="Menu item 1" description="">
<siteMapNode url="~/pages/1/1-1.aspx" title="Test 1-1" description="" />
<siteMapNode url="~/pages/1/1-2.aspx" title="Test 1-2" description="" />
<siteMapNode url="~/pages/1/1-3.aspx" title="Test 1-3" description="" />
</siteMapNode>
<siteMapNode url="~/Default2.aspx" title="Menu item 2" description="">
<siteMapNode url="~/pages/2/2-1.aspx" title="Test 2-1" description="" />
<siteMapNode url="~/pages/2/2-2.aspx" title="Test 2-2" description="" />
</siteMapNode>
<siteMapNode url="~/Default3.aspx" title="Menu item 3" description="">
<siteMapNode url="~/pages/3/3-1.aspx" title="Test 3-1" description="" />
<siteMapNode url="~/pages/3/3-2.aspx" title="Test 3-2" description="" />
<siteMapNode url="~/pages/3/3-3.aspx" title="Test 3-3" description="" />
</siteMapNode>
<siteMapNode url="~/Default4.aspx" title="Menu item 4" description="">
<siteMapNode url="~/pages/4/4-1.aspx" title="Test 4-1" description="" />
<siteMapNode url="~/pages/4/4-2.aspx" title="Test 4-2" description="" />
<siteMapNode url="~/pages/4/4-3.aspx" title="Test 4-3" description="" />
<siteMapNode url="~/pages/4/4-4.aspx" title="Test 4-4" description="" />
</siteMapNode>
<siteMapNode url="~/Default5.aspx" title="Menu item 5" description="">
<siteMapNode url="~/pages/5/5-1.aspx" title="Test 5-1" description="" />
<siteMapNode url="~/pages/5/5-2.aspx" title="Test 5-2" description="" />
<siteMapNode url="~/pages/5/5-3.aspx" title="Test 5-3" description="" />
</siteMapNode>
</siteMapNode>
</siteMap>
3. Style sheet: http://www.hallstensen.com/menuadapter/Style.txt
4. Modified MenuAdapter.cs: http://www.hallstensen.com/menuadapter/MenuAdapter.txt