Grav has the ability to not-/show pages in the main menu, but is there anything that allows being able to specify pages should instead be shown in another (say footer) menu? Pages like, Privacy, FAQ, etc. are often secondary, so while they don’t need to be in the main menu, that still need to be readily accessible.
Forgive me this is covered somewhere, I have only been playing with Grav a few days, and am still getting my head around it.
In this case, the links are going to be pretty much permanent, so hard-coding is probably simpler.
However, the taxonomy thing (as alluded to at http://learn.grav.org) does open up new possibilities in content grouping. As you say, definitely more flexible.