I haven't seen Mufasa - is Kiros actually a "villain"? Disney has moved away from classic villains in a lot of their animated stories; I seem to remember reading that this was intentional and that they started moving this direction in their storywriting with Frozen, progressed it with Moana (whose "major antagonist" is a mute force of nature and minor antagonist is a silly hurdle to be jumped), and fully realized it with Encanto, which has no singular antagonist at all.
The jerks in these movies end up getting songs that make them out to be silly jerks - minor obstacles on the hero's journey. They don't get villain songs because they're not deserving of them, and the story isn't about defeating a villain, it's about fixing past mistakes/restoring the balance of nature/realizing one's potential/etc.