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use 5.026;
use warnings;
...
say qq{Server $_ is in groups },
   join q{, }, sort @{ $inGroups{ $_ } }
   for sort keys %inGroups;

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%inGroups = (
              'server02' => [
...
Server server02 is in groups serversA, serversB, serversC, serversD
Server server03 is in groups serversC
Server server04 is in groups serversA, serversB, serversC