This is your problem:
choices => [ 'Exit', 'Add Server', @{$$menu_array[0]} ]
What $menu_array looks like is something like this:
[
[ "server_name_1" ],
[ "server_name_2" ],
]
The statement @{$$menu_array[0]} grabs the first element of the array ref, which happens to also be an array ref ([ "server_name_1" ]), uses it as a list, which ends up simply being ( "server_name_1" ). I'm not familiar with the various Term modules, but I assuming that get_reply is expecting a list of answers. Something like this would probably work:
$answer = $term->get_reply(
prompt => 'Select Server: ',
choices => [ 'Exit', 'Add Server', map { $_->[0] }
+ @$menu_array ]);
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