You can configure the menu from either of the following locations:
Dashboard >> Appearance >> Customize >> Menu. or
Dashboard >> Appearance >> Menu.

Here we are exploring the first option:

Settings (You will find the settings icon beside the menu heading), you will have the following option inside settings.
Show advanced menu properties: You find following options as soon as you checkmark these options these will display inside each menu to set accordingly.
Link Target
Title Attribute
CSS Classes
Link Relationship (XFN)
Description
Create a new menu: You can create a new menu by giving a name and by specifying the display location.
Menu Locations: Your theme can display menus in 2 locations primary and user profile, you can set the same from here.

menu config - Wbcom Designs

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