As soon as an object is selected, several buttons will appear on the left above the object, including the “Duplicate” button. By clicking on this button, a copy of the object will be created to the right below the original object.
If several elements are selected, the entire group can be duplicated.

You can also copy the currently selected element with CTRL + C and paste it anywhere with CTRL + V. This also works across pages and even tabs, so objects and entire drawings can be quickly copied between pages and projects.