Modifying the wrapper for the wp_nav_menu() is customizable with the items_wrap parameter. https://developer.wordpress.org/reference/functions/wp_nav_menu/
The documentation states that the default wrapper is a <ul> element with an ID an CLASS attribute. This can be modified as you wish by modifying the markup passed to the sprintf() function used by wp_nav_menu().
The value for items_wrap is the argument passed for the wrapper. To output a <div> element with a style attribute:
wp_nav_menu( array( 'items_wrap' => '<div style="css here">%3$s</div>' ) );
The %3$s in the example represents the items within the wrapper HTML.
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