W3C allows both constructs, ampersand and semicolon.
https://www.w3.org/TR/html401/appendix/notes.html#h-B.2.2

Especially servlet containers and servers running CGI programs often use semicolons as a separator.

I would say to parse either ampersands OR semicolons and keep a priority to ampersands.

For example the query strings:

?fields=id&query=%22((release%3D{id%3D1004});(sprint%3D{id%3D1040});(team%3D{id%3D1004});(severity%3D{id%3D%27list_node.severity.urgent%27});!phase%3D{id+IN+%27phase.defect.closed%27,%27phase.defect.duplicate%27,%27phase.defect.rejected%27})%22

?fruits=lemon;lime&family=citrus

should be parsed with & separators only.

The modified example without & character:
?fruits=lemon;family=citrus

can be parsed with semicolon as a separator because it contains both '=' and ';' but no '&' characters.