I may be missing something but I noticed something that I think can be improved. Currently, it looks like if a developer wants to output a list using wp_nav_menu, they are stuck with unordered lists like this:
<ul>
<li></li>
<li></li>
</ul>
What if the developer thinks that the appropriate markup should be a definition list:
<dl>
<dt><dt>
<dd></dd>
<dd></dd>
</dl>
Since there are only 3 kinds of lists in HTML, it seems that wp_nav_menu ought to have built-in support for <dl> rather than relying on developers to write custom walker classes each time.