Or there is a way only using CSS with standart Logo and Menu positions from Helix. But this can cause problems with accessibility on Mac and iOS (this must be checked if you take care of accessibility)
@media (min-width: 992px) {
#sp-menu,
#sp-menu .sp-column,
.sp-megamenu-wrapper,
.sp-megamenu-parent {
display: contents !important;
}
#sp-header .row {
display: grid;
grid-template-columns: repeat(8, 1fr);
}
#sp-logo {
grid-column: 4/5;
}
#sp-logo,
.sp-menu-item {
grid-row: 1;
}
}

Values of properties grid-template-columns for #sp-header .row and grid-column for #sp-logo depends on the total number of menu items + logo