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I wish I could help more but I haven't used these types of menus before because of this exact problem. Does the fireworks code that you mentioned work in all browsers? It might be worth using even if it is a little heavy.
For the centering question you could use a div align=center around the whole doc but this would probably mess up your positioning.
I will keep working at it and tell you if I find anything new.
I have IE6... I don't see any menus - what's the status?
BTW, You are hiding the menu onMouseout, and when your mouse pointer leaves the DIV and goes over the text, the div receives a mouseout event. This is correct... but only happens on more standards-compliant browsers.
I have some menu examples you're welcome to look at (or use)... see my profile for my cross-browser stuff.