Table of Contents/Menu generation

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Hi guys! I am building an online course in a mostly written format. I am using a custom post type for chapters and Elementor Pro, everything works fine. I have a custom taxonomy for each course. I would like to add an overview to each chapter, which contains a table of contents for the course. Now, I can only get a list of all chapters in this course or a table of contents (all h2 – h5) within this chapter, but I cannot get them all in one menu or link structure. I assume I have to do this manually, but I really don’t want to if not necessary. Has anyone an idea how to do this? Thank you!

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