Impress has an Insert > Media submenu. And it has an UNO command for inserting an Audio or Video clip. That command should be on that submenu, by default.
IIRC the decision to keep A/V on the root was made with the idea to place it on a more prominent position rather than hiding the frequently used function in a submenu. See https://gerrit.libreoffice.org/c/core/+/68786 for the last modification.
Closing WFM.