Open backend menu

8.0

The only way to open menu is search by string, for example

{
    title:     "go to accounting",
    element:   '.oe_menu_toggler:contains("Accounting"):visible',
},

9.0

Some additional actions are required to work with backend menus in tours

Manifest

Add web_tour to dependencies

"depends": [
    "web_tour",
],
# ...
"demo": [
    "views/assets_demo.xml",
    "views/tour_views.xml",
],

load_xmlid

You need to set load_xmlid for each menu you need to open. Recommended name for the file is tour_views.xml

<?xml version="1.0" encoding="utf-8"?>
<odoo>
    <!-- Make the xmlid of menus required by the tour available in webclient -->
    <record id="base.menu_administration" model="ir.ui.menu">
        <field name="load_xmlid" eval="True"/>
    </record>
</odoo>

Tour

Use trigger selector for both editions:

{
    trigger: '.o_app[data-menu-xmlid="base.menu_administration"], .oe_menu_toggler[data-menu-xmlid="base.menu_administration"]',
    content: _t("Configuration options are available in the Settings app."),
    position: "bottom"
}