Add an Enquiry Form to The My Account Page in WooCommerce

functions.php

<?php
class WC_Custom_My_Account_Tabs extends WC_Query {
	/**
	 * Adds main filters and actions and inits the endpoints.
	 */
	public function __construct() {
		add_action( 'init', array( $this, 'add_endpoints' ) );

		if ( ! is_admin() ) {
			add_filter( 'query_vars', array( $this, 'add_query_vars' ), 0 );
			add_filter( 'woocommerce_account_menu_items', array( $this, 'edit_navigation' ) );
			add_action( 'woocommerce_account_contact-us_endpoint', array( $this, 'add_custom_tab_content' ) );
		}

		$this->init_query_vars();
	}

	/**
	 * Inits the query vars for WooCommerce
	 */
	public function init_query_vars() {
		$this->query_vars = array(
			'contact-us' => 'contact-us',
		);
	}

	/**
	 * Edits the navigation in the page My Account adding a new Contact Us tab.
	 *
	 * @param  array $items The existing tab items.
	 * @return array
	 */
	public function edit_navigation( $items ) {
		if ( ! isset( $items['contact-us'] ) ) {
			$last_item = array_splice( $items, -1, 1 );
			$contact   = array(
				'contact-us' => esc_html( 'Contact Us' ),
			);

			$items = array_merge( $items, $contact, $last_item );
		}

		return $items;
	}

	/**
	 * Prints the contact tab content from a template in theme-name/woocommerce/myaccount/
	 */
	public function add_custom_tab_content() {
		wc_get_template( 'myaccount/contact.php', array(), '', get_stylesheet() . 'woocommerce/' );
	}
}

new WC_Custom_My_Account_Tabs();