Learn how to find out that direct URL to your popup, and then be able to use it from within a text block, or from a navigation item.
To start with, add a button to your Elementor page
At first, go to your elementor page and add a "Button".
Then, select 'Popup' under the link options
After adding the button, (1) go to the link section and click on the "Dynamic Tags" icon, and from there (2) select "Pop-up" from 'Actions'. (3) Then click on the Pop-up and select your template.
Choose the Open popup action.
Now, visit your page to copy the link to the Elementor popup
Now visit the page from the front end, then right-click on the 'Button' and "Copy the Link Address" after that, go to your computer's Notepad and paste the link.
Add or edit your text element that will link to the popup
Now after copying the link from the button, go back to the elementor editor and "Add your Text".
Add part of the previously copied link to your text element
After adding your text go back to your notepad and copy the link from the #, and paste it to the link option. See the screenshots below.
To add the Elementor popup as a menu item
Simply go under the WordPress Menu options.
There, add a custom link to your navigation menu, and enter the URL you got from above!
Finally, enjoy your Elementor popup link!
Finally you can validate that everything works by going to the page and clicking on your text or menu item!
Important: Your popup display conditions needs to match the pages you will have that link on! So if it's in your header navigation, for example, your popup should be set to 'Entire website'.