Step 1: Go to Appearance > Menus on admin sidebar, select a menu to edit and rename menu URL as you wish.
Remember to hit Save Menu when you finish editing.
Step 2: Go to Pages . Then click Edit with Elementor.
Step 3: Go to the section which URL you changed in menus . Then click edit section Advance options. Change the ID into the CSS ID field.
Remember to hit Update when you finish editing.