You need to be modifying a section not a setting.
Try this:
add_action( 'customize_register', function( $wp_customize ) {
$section = $wp_customize->get_section( 'menu_locations' );
$section->description .= "<p>Custom HTML added.</p>";
}, 12 );
The priority of 12 is used because \WP_Customize_Nav_Menus::customize_register() happens at priority 11, and this is where the section is added.
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