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Is it possible to take a contact form and embed it into a page.html.twig or node.html.twig file? Or is the form only accessible via its contact/machine_name link?

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Check out Contact Storage.

Among various other features, like being able to store contact messsages, the latest version has a view builder that allows to display a referenced contact form (it's a config entity, so you can reference it using a standard entity reference field).

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