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The Graphical Representations example describes a technique using role=group and caption, but says that figure / figcaption would be better when it is supported. Is it now supported?
figcaption works with some browsers sometimes. There's at least one test case for a bunch of the ways it might or might not work at chaals.github.io/testcases/figcaption-anywhere.html and there is an open issue in HTML: https://github.com/w3c/html/issues/177