Add a tertiary or footer menu to any Genesis child theme. Source: https://wpbeaches.com/add-footer-menu-genesis-child-theme/

tertiary-footer-menu-genesis.php

<?php

//* Footer Menu
function prefix_footer_menu() {
    
    $args = array(
    	'theme_location' => 'tertiary',
    	'container' => 'nav',
    	'container_class' => 'footer-menu-container',
    	'menu_class' => 'wrap menu genesis-nav-menu menu-tertiary',
    	'depth' => 1, // Change to 0 for submenus support
    );
    
    wp_nav_menu($args);
}

add_theme_support('genesis-menus', array(
	'primary' => 'Primary Navigation Menu',
	'secondary' => 'Secondary Navigation Menu',
	'tertiary' => 'Footer Navigation Menu'
	));

add_action('genesis_before_footer', 'prefix_footer_menu');