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use \Bitrix\Main,
   \Bitrix\Iblock;

Main\Loader::IncludeModule('iblock');

$sectionList = [];

$sections = Iblock\SectionTable::getList([
   'select' => [
      'ID',
      'NAME',
      'SECTION_PAGE_URL_RAW' => 'IBLOCK.SECTION_PAGE_URL'
   ],
   'filter' => [
      '=IBLOCK_ID' => 5
   ]
]);  

foreach ($sections as $section)
{

   $sectionList[ $section['ID'] ] = [
      'ID' => $section['ID'],
      'NAME' => $section['NAME'],
      'SECTION_PAGE_URL' => \CIBlock::ReplaceDetailUrl($section['SECTION_PAGE_URL_RAW'], $section, true, false),
   ];
}

echo "<pre>";
var_dump($sectionList);
echo "</pre>";

'SECTION_PAGE_URL' => \CIBlock::ReplaceDetailUrl($section['SECTION_PAGE_URL_RAW'], $section, true, 'S'),