What you are looking for is called Recursion. Below is a recursive function that calls itself if the value of the array key is also an array.
function printArrayList($array)
{
echo "<ul>";
foreach($array as $k => $v) {
if (is_array($v)) {
echo "<li>" . $k . "</li>";
printArrayList($v);
continue;
}
echo "<li>" . $v . "</li>";
}
echo "</ul>";
}
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solved PHP nested array into HTML list