I use zsh's menu-based tab completion. I press Tab once, and a list of possible completions appears. If I press Tab again, I can navigate this list with the arrow keys. However, is it possible to navigate them with the vi-like H, J, K, L keys instead?
I use emacs mode for command-line input, with bindkey -e in ~/.zshrc. I also use zim with zsh. If relevant, the commands that specify the tab-completion system are here.