Actually if you’re allowing users to tap on any item in the menu (rather than going through the items sequentially) then you don’t need to loop.
You would create your navigation bar with your default ‘home’ item in the centre, then create empty states for each of the other items in the nav bar. I would then add a click/tap interaction to each item that sets the dynamic panel to the appropriate state. Then I would copy your first nav bar into each of the dynamic panel states and move the buttons around/restyle everything. Then the user should be able to tap each icon and have it activate the correct state.
If you’re new to Axure, the official documentation is quite sparse on detail because there are so many potential uses for each piece of functionality. This video series is an excellent primer on the common components and the different ways they can be used.