I think this, as with many user interfaces, comes down to the use case.
A rarely used UI needs to be easy to navigate. Remove clutter, place the often used feature front and center and the rarely used features behind multiple navigation steps. The user primarily _navigates_ this UI, they don't _memorize_ it.
A constantly used UI such as an application that a professional uses from 9 to 5 five days a week (An IDE, a Cad Program, a video editing thing) is a completely different beast. The speed of accessing a feature is more important than the discoverability. The user internalizes the UI and the UI needs to aid the user in doing so. Icons in menus means the user eventually doesn't need to read the text label.
A rarely used UI needs to be easy to navigate. Remove clutter, place the often used feature front and center and the rarely used features behind multiple navigation steps. The user primarily _navigates_ this UI, they don't _memorize_ it.
A constantly used UI such as an application that a professional uses from 9 to 5 five days a week (An IDE, a Cad Program, a video editing thing) is a completely different beast. The speed of accessing a feature is more important than the discoverability. The user internalizes the UI and the UI needs to aid the user in doing so. Icons in menus means the user eventually doesn't need to read the text label.