Dynamic Routes

Hello all, I'm new to CI.
In my future project, we will have a menu structure like this:
Menu1
--Submenu1
--Submenu2
--[...]
Menu2
--Submenu3
--Submenu4
[...]

So, many menus, and each of them will have many submenus (many submenus will have a CRUD, or similar).
My problem is making the routes to all this pages, I would like to organize the Controllers inside folders (with the menu's name) and each submenu would be a Controller, like this:
/app/Controller/Menu1/Submenu1.php
/app/Controller/Menu1/Submenu2.php
/app/Controller/Menu2/Submenu1.php
etc...

But at the same time, I don't want to create one entry in the Routes.php file for each submenu, is there a way to create a route that simply takes the path URI and search in the folders for that exact values?