Prove the need, and add back the ID and aria-labelled-by to title in Navigation menus with JS

Problem/Motivation

This is folow up issue from https://www.drupal.org/project/drupal/issues/3393400#comment-15627607

Steps to reproduce

Proposed resolution

• Decide if ID attributes are still necessary for <li> tags and get rid of them or manage them via JS
• Bring back h4 ID and their references in aria-labelledby

This should be managed by JS
https://git.drupalcode.org/project/drupal/-/merge_requests/7980/diffs?co...

Remaining tasks

User interface changes

API changes

Data model changes

Release notes snippet