No utility I know of can do this.
OSX simply doesn’t expose the contextual menu of the cursor location to a keyboard API – nor does it expose the exact position of the cursor to allow a utility like KM to move the mouse pointer to that location and perform a right-click.
Personally I think it’s nuts, but Apple plainly has never understood (or cared about) convenient keyboard access to all menu items. They’ve been way too mouse-centric over the years.
(I am well aware of the keyboard shortcuts to move focus to menu, dock, etcetera – these are all awkward compared to Windows – sad to say.)
Apple’s disdain for usability is/was one of the primary reasons why I thought the 128K Mac was junk. It was pathetic from a usability perspective. Then came an upgrade to a MacPlus, a DataDesk 101 keyboard, a RAMDisk, QuicKeys, a succession of usability utilities – and the Mac became a player.
I’m still using one 30+ years later.
And still cussing about their shortcomings. 
-Chris