Enable HTML Sitemap
Go to SEO, XML / HTML Sitemap.
Check Enable HTML Sitemap and Save changes.
HTML Sitemap configuration
From HTML Sitemap tab, enter the IDs of your content where to display the sitemap (separate IDs with a comma).
You can exclude a page, a post or a custom post type by typing his ID in the field.
The content list is directly derived from the XML sitemap settings, Post Types tab.
Display HTML Sitemap with the Block Editor
Edit a post, page or custom post type with the Block Editor, click Add block button, search for Sitemap and drag and drop the HTML sitemap block to your content.
Use the right panel options to select which post types to display and change the block appearance.
Display HTML Sitemap with shortcode
Copy and paste this shortcode anywhere in your content to display HTML sitemap:
You can also include specific post types like this: