Translate list in site.yaml

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There is no “automatic” translation at this level. What you can do is nest the quicklinks under the language:

quicklinks: 
  en: 
    -
      text: About 
      url: 'base_url:about'
    -
      text: Services
      url: 'base_url:servi ces'
    -
      text: 'Contact Us'
      url: 'base_url:contact'
  fr: 
    -
      text: About 
      url: 'base_url:about'
    -
      text: Services 
      url: 'base_url:servi ces'
    -
      text: 'Contact Us'
      url: 'base_url:contact'

and in your Twig: {% for module in config.quicklinks[language.getActive] %}