Well it really looks like it cannot be done just for any elements other than ones that are links be it containers/images or text, if it has to be one the other elements then a fiddle would be to place a link container inside the outer container, set the link container to href = #no-link then add the tittle & the attribute "data tooltip'
This of course means restyling or changing the default blue coloring inside the link-container
It seems to me that tooltips are really only meant to give a little bit of guidance/information to visitors regarding link-navigation (not just menu links), & I also think that having a tooltip on any other element other than links is also not such a good idea for visitors, but then if that's what you want then far be it for me to say otherwise.
there is a video made by Zurb for foundation "Data Tooltips" here, although again it is only for elements with links, but it might help a little
https://get.foundation/sites/docs/tooltip.html
some of the things and ways to do actually don't work in SD v4 as they haven't been implemented, or the attribute required (TITLE) are reserved so one cannot place that using SDv4 especially the attributes stuff, but as I mentioned before, it may be achievable with some custom code thingies.
good luck in your endeavors
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