What is the best way to layout a website menu in 2016 from a semantic point of view?

Question

HTML

Good morning!
I'll get to the point. Many times I read holivars on the topic of what is better to use to create a site menu - lists or nav with links inside. I did not find a consensus anywhere, however, the supporters of each of the methods have their own convincing arguments for and against. Personally, I'm for the listless method, but in this topic I'm interested in something else.
Does anyone know more or less specific results of processing these two different types of menu layouts by search engines?.. Is there any difference from this point of view (I assume not)? So far, this moment is the only one that raises doubts.
Thanks in advance!

Answer 1

I use approximately the following algorithm in such matters:
1. I look at the specification.
2. If I don’t find an answer in the specification, then I look at how this moment is implemented in popular frameworks - bootstrap, foundation.
For me, the authors of these frameworks are authorities whose opinion I trust.

Answer 2

on fieldsets and legends you can

Answer 3

I also think that nav is a must, especially if the owner wants to do promotion. This is a call to PS

Answer 4

Why not?

<ul role="navigation">
 <li><a href="">link</a>
 <li><a href="">link</a>
 <li><a href="">link</a>
</ul>