‘items_wrap’ => ‘<ul id="%1$s">%3$s</ul>‘
This is executed by: $nav_menu .= sprintf( $args->items_wrap, esc_attr( $wrap_id ), esc_attr( $wrap_class ), $items );
you can play around with the sprintf arguments
ex: ‘items_wrap’ => ‘%3$s’ would remove the wrapping <ul> tag