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A true menubar is much more involved than you might think in order to make it completely accessible. If you want information on how to implement one properly you can look at the following:
https://www.w3.org/TR/wai-aria-practices/examples/menubar/menubar-1/menubar-1.html
https://www.w3.org/TR/wai-aria-practices/#menu
https://www.w3.org/WAI/GL/wiki/Using_ARIA_menus#Example_Keyboard_Behavior
The first link has a working example and lists all of the key handlers you will need to implement. If you look at the source for that page you can find the JS files they used to implement the functionality so you can take a look at their code to get an idea of how they did it.
If you aren’t up for all of that I’m guessing you can find something on github that might work for what you want to do. But be warned that a lot of stuff out there that claims it is accessible isn’t, so you’ll want to verify for yourself that it implements all of the keys properly.