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For the record, I had to go into Joomla's Menu Manager, and one-by-one choose to "Edit" for each menu item in the JomSocial Toolbar, then just choose "Save" in the next window. I also did this for every item in other menus on the site that linked to a JomSocial function. Also, just re-publishing each item from the Menu Manager page will not do it. I tried that first.
If this info is in the upgrade documentation, I must have missed it. If not, hopefully someone else with this issue will benefit from this post.