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Seems like this is being discussed https://github.com/joschahenningsen/TUM-Live/discussions/804 I never worked with monorepos that hold multiple microservices so I'm unsure about the right approach.
The other project author told me that the reason he had two modules is because the submodule was a tool used for development of the other one and he didn't want its dependencies to be downloaded by just trying to use the top-level module. The thing is that that's not how it works. go.mod does not list dependencies. It lists rules describing how to resolve dependencies. The actual dependencies are calculated based only on the imports in the actual code in the packages actually used. Other packages in the same module have no effect if they're not in your dependency tree. That's why things like a separate list of test dependencies in go.mod don't make sense, either, though I do think some type of indicator might be useful.
And https://github.com/lewish/asciiflow if you’re searching a web version.