When using (TFS) Team Foundation Server 2017 or later, a new navigation mechanism is available and it is activated by default.
To see the Urban Turtle menu, you must have Urban Turtle version 5.9.0+ and you must install the Urban Turtle Menu extension from the Visual Studio Marketplace.
An alternative is to restore the old navigation scheme in TFS. To do so you select the Server Home page and you go in the control panel from the gear menu. On the right of your screen you have the option to “Turn off the new navigation”.
This will restore the old menus and the Urban Turtle menu will then be visible.