Compositions that are palindromic modulo $m$

In recent work, G. E. Andrews and G. Simay prove a surprising relation involving parity palindromic compositions, and ask whether a combinatorial proof can be found. We extend their results to a more general class of compositions that are palindromic modulo $m$, that includes the parity palindromic case when $m=2$. We then provide combinatorial proofs for the cases $m=2$ and $m=3$.