ControllerNavigatorWidget.php

<?php

namespace backend\widgets;


use Yii;
use yii\base\Widget;
use yii\helpers\Url;
use ReflectionClass;

class ControllerNavigatorWidget extends Widget
{
    public $controllerNamespace = 'backend\\controllers';

    public function run()
    {
        $controllerDir = Yii::getAlias('@backend/controllers');
        $controllers = $this->findControllers($controllerDir);

        return $this->render('controller-navigator', [
            'controllers' => $controllers
        ]);
    }

    protected function findControllers($directory)
    {
        $controllers = [];
        foreach (glob($directory . '/*Controller.php') as $file) {
            $controllerClass = $this->controllerNamespace . '\\' . basename($file, '.php');
            
            if (class_exists($controllerClass)) {
                $reflection = new ReflectionClass($controllerClass);
                $actions = $this->getControllerActions($reflection);

                $controllerName = $reflection->getShortName();
                $controllerName = str_replace('Controller', '', $controllerName);

                $controllers[$controllerName] = $actions;
            }
        }

        return $controllers;
    }

    protected function getControllerActions(ReflectionClass $reflection)
    {
        $actions = [];
        foreach ($reflection->getMethods(\ReflectionMethod::IS_PUBLIC) as $method) {
            if (strpos($method->name, 'action') === 0 && $method->name !== 'actions') {
                $actionName = str_replace('action', '', $method->name);
                $actionName = strtolower(preg_replace('/(?<!^)[A-Z]/', '-$0', $actionName)); // Converts camelCase to kebab-case
                $actions[] = $actionName;
            }
        }

        return $actions;
    }
}

Save it under you widgets folder, for example in advanced template backend\widgets
or in basic app app\widgets.

and inside widgets folder, create views folder and create that view file controller-navigator.php
and u can customize your view to display the links.
Simple example

<?php

use yii\helpers\Html;
use yii\helpers\Url;

function toKebabCase($string)
{
  $spacedString = preg_replace('/([a-z])([A-Z])/', '$1 $2', $string);

  $kebabCase = strtolower(str_replace(' ', '-', $spacedString));

  return $kebabCase;
}

$exlcudedActions = ['update', 'delete', 'view', 'create'];

foreach ($controllers as $controller => $actions): ?>
  <ul>
    <?php foreach ($actions as $action): ?>
      <?php if (!in_array($action, $exlcudedActions)): ?>
        <li>
          <a href="<?= Url::to(["/" . toKebabCase($controller) . "/{$action}"]) ?>">
            <?= ucfirst($controller) ?>
            <?= $action === 'index' ? '' :  ': ' . ucfirst($action) ?>
          </a>
        <?php endif; ?>
      <?php endforeach; ?>
  </ul>
<?php endforeach; ?>

note that controller names should be converted to kebab case (this is how a controller id is made).
Now you can use ControllerNavigatorWidget anywhere in the project.

Example usage:

<?php

use backend\widgets\ControllerNavigatorWidget;

?>

<?= ControllerNavigatorWidget::widget() ?>