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This thread is resolved. Here is a description of the problem and solution.
Problem: How to translate text inside of the header and footer?
Solution: The footer and header can be translated with String Translation. Please go to WPML -> String Translation and try to locate the strings using the text search field. In case some strings are not available select the option "translate strings in admin screens" at the bottom of the screen. Now, search for the correct domain of your currently used theme or the plugin that was used to generate the text. Locate the stringsand mark the checkbox for each string, scroll to the bottom and apply your selection. The strings are now available on String Translation.
Relevant Documentation: https://wpml.org/documentation/getting-started-guide/string-translation/