I want to maintain the same URLs on my translated versions.
mysite/url1
mysite/es/url1
mysite/de/url1
I went to "Translated documents options ==> Page URL" and selected "copy" (See attached)
I went ahead and translated the page hidden link
into Spanish hidden link
But, the WPML put in the Spanish version the title of the original (Not its URL)
The "Copy from original language if translation language uses encoded URLs" is used when the value of the translated URL slug would contain characters that can not be used as a valid URL, any character that is outside the ASCII set.
In that case, the original slug would be used.
In your case, you can achieve what you want by setting the "Translated documents options" to "Translate", then when you translate the page copy the value of the original URL slug.
What you suggested is what I have done already. I just thought there might be a more elegant solution for that!
I hope you can consider adding this as a 4th option for selection. (Not critical but nice to have)