How to retrieve a menu item ID from WP 3 navigation menus

For an upcoming tutorial on the new menu system in WordPress 3, we need to identify each menu item, so that we can address that in our stylesheet. That way, we can add specific styling to a single menu item, which may be useful if you want to use images or icons in the menu in stead of text links. I haven't found an easier solution (other than inspecting your site's html source code once the menu is published), but I would love to get your input.

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