Forked from the clean NavWalker from the Roots/Soil Plugin which was deprecated in favor of acorn-prettify via composer. I'm using acorn-prettify in my project and as far as I can tell it does not include the clean NavWalker markup from Soil. This fork maintains the features of Soil's clean NavWalker and adds required Bootstrap 5 css classes to the Walker_Nav_Menu in a Sage 10 project.
I'm using this currently in a project along with acorn-prettify and everything appears to be working fine. Does not require acorn-prettify to work. Use at your own risk.