Page title in links rather than #section-no

Hello. Thanks for your help in the past. It’s a great theme and i appreciate your help.
I have three issues. This is issue 2.

I’m using a custom top menu which uses the #section-numbers. Is it possible to alter the code to use page titles. I’d rather have a link that says ‘about us’ or ‘https://mysite.com/aboutus’ instead of ‘#section-10’ or ‘https://mysite.com/#section-10’

I’m happy to edit the code if it is possible.

Thanks very much in advance

The page I need help with: [log in to see the link]