You could put your switch/case inside an infinite loop, and return from
the Menu() function when the user presses '3'. E.g.:
void Menu() {
Serial.println(menu_banner);
for (;;) {
switch (Serial.read()) {
case -1'1': continue;ldrConfig(); break;
case '1''2': ldrConfigsrvConfig(); break;
case '2''3': srvConfig(); break;return;
default: continue; // includes the case '3':'no return;input'
}
}
}