Issue with aria-required-children validation fix messaging

### Product

axe-core

### Product Version

4.10.3

### Latest Version

- [x] I have tested the issue with the latest version of the product

### Issue Description

#### Actual

Getting an issue flagged with a test of a menu component. This is what appears in the DOM:

```

• 
  Save & Exit
  

```

Note that the immediate child of the ul with role=”menu” is an li with role=”presentation”. This node would ordinarily be ignored, but it also (incorrectly) has tabindex=”-1” so the validation is regarding it as not presentational. The issue that is raised provides this “how to fix”:

Element has children which are not allowed: [role=presentation]

This is misleading as to the actual fix. If we were able to indicate that the issue was not that the role=”presentation” marked element wasn’t allowed but that that element couldn’t be tabbable that would make more sense and support a fix more clearly.

The opposite issue is similarly affected, as on this same page as the element within the li with role=”presentation” gets flagged for a aria-required-parent issue and the “how to fix” says:

Required ARIA parents role not present: menu, menubar, group

#### How to Reproduce
Take any good menu component and add tabindex="-1" to an element between the element with role="menu" and the element with role="menuitem".