menuauto generator module? (something like pathauto)

Is there a module or a solution to auto generate a menu item for nodes and categories?.

The problem is that when i use pathauto and writes something like this for my nodes [type]/[cat]/[title] i get the path i want, same with the categories NODENAME/[cat]. But then i have to create a menu item for my node and have a block with the nodes that i only display when I'm on my node etc.

No problem in doing that, but the thing that is the problem is that Drupal forgets where I am, for example:

I click on [my node type title] it gets "activated" m my "fake categories menu" gets visible. But when I click on a category it forgets that I am on my node and the category only gets highlighted. And if I click on a node in the category it forgets the category (and nothing in my menu gets activated).

(and the breadcrumbs doesn't work at all, always says Home)

What is the best way to solve this problem in Drupal? Is it possible? Menus seems like Drupals weakness but maybe I'm doing/thinking wrong, then please try to explain.