In fact, you should not avoid using RoboMenuItem, if possible. You can get the actual menu created by the activity using robolectric, which creates the action and makes it visible.
MainActivity activity = Robolectric.buildActivity(MainActivity.class).create().visible().get();
You can then use ShadowActivity to get the menu options actually created;
shadowOf(activity).getOptionsMenu()
To get the actual MenuItem:
shadowOf(activity).getOptionsMenu().findMenuItem(...)
onOptionsItemSelected.
RoboMenuItem - , , , robolectric , .