Accessibility: aria-required-parent on nested side nav links

Describe the bug
When I run axe-devtools on the Redocly demo, I get the following error on nested list items (but not on parents):

Certain ARIA roles must be contained by particular parents
Ensures elements with an ARIA role that require parent roles are contained by them

Element location: li[data-item-id="tag/pet"]

Element source: <li tabindex="0" data-item-id="tag/pet" role="menuitem" class="sc-kYxDKI eoKbCJ">

I do not get the error on non-nested listitems, since the structure is <ul role="menu"><li role="menuitem">

Expected behavior
Running axe-devtools does not produce this error.

The best solution would be to remove role=menuitem and role=menu entirely, since this side navigation is a simple list of links, and doesn't follow the WAI-ARIA menu pattern.

Screenshots
Problematic element:

Markup:

Additional context
Additional info from axe-devtools
Test URL:https://redocly.github.io/redoc/ opens in new window
Impact: Critical
Found on: 9/6/2023 at 2:00 pm
Found: Automatically
Issue tags: cat.aria, wcag2a, wcag131
Help: Certain ARIA roles must be contained by particular parents

Reproduce the axe-devtools finding at the Redocly demo URL and inspect the nested li[data-item-id="tag/pet"] structure and its parent elements. Trace the side-navigation entry point that emits the menu and menuitem roles. Done means the nested links follow appropriate list semantics and axe-devtools reports no aria-required-parent violation.