How to output all taxonomy links from a custom post type in a menu?

Question

I made a custom post type called Product. And a taxonomy with the name 'product-category'. These taxonomies have pages where we show a list of the products that have that taxonomy.

Now my question is how to get all the taxonomies as a menu in the header. Its an awful lot of work to add it manually in the menu editor. Also because i need sub-menu's and sub sub menu's. How do I do this?