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The hCaptcha plugin grows and now have 5 subpages, which makes UI inconvenient. That is why we decided to move the menu to the top level.
12,500 sites updated the plugin yesterday, and I see the first request so far to return the menu back. Anyway, I predicted it.
You may read the CHANGELOG and find the line under 4.1.0.: “Added a filter to change admin menu appearance.” The filter is described in the Readme. The description contains a working example to bring back ‘tab’ mode, i.e., move the menu back under the “Settings”.