There is no way to use contextual links on mobile devices at the moment, because they are only triggered by hovering your mouse over the editable/configurable items, and mobile devices work with taps.
In D8, they have added an "Edit" button at the far right of the admin bar, that toggles contextual links on/off:

We should have the same.
GitHub Issue #:
3417
Recent comments
My suggestions, if there is time to look at recent bug reports: (1) Not sure if the fix for this issue still needs a code review to get labeled as RTBC: Editor link autocomplete...
July 9th, 2026 - Weekly Meetings
Also I would welcome feedback on the approach I've taken to: [A11Y] Update aria role on messages area based on type of messages (#5715)
July 9th, 2026 - Weekly Meetings
[DX] Add layout machine name as a class to the body element (#7156) Two dashes -- or single dash - between label and value...
July 9th, 2026 - Weekly Meetings