You can use wp_nav_menu()
.
https://developer.wordpress.org/reference/functions/wp_nav_menu/
Example:
add_action('generate_after_footer_content',function(){
wp_nav_menu( array(
'menu' => 'Your Menu Name'
) );
});
Alternatively, as Ying mentioned, you can use this code on a Hook Element:
<?php wp_nav_menu( array(
'menu' => 'Your Menu Name'
) ); ?>
You then set the hook element’s hook to generate_after_footer_content
, check “Execute PHP” and set the display rule location to the pages you want this code to run.