Solved, thank you Whisher!
This is the correct navigation configuration

[...]
    'navigation' => array(
         'default' => array(
             array(
                 'label' => 'Home',
                 'route' => 'home',
             ),
             array(
                 'label' => 'Page #1',
                 'uri' => '#',
                 'pages' => array(
                     array(
                         'label' => 'Child #1',
                         'controller' => 'index',
                         'action' => 'child1',
                        * 'route' => 'application/default'*
                     ),
                     array(
                         'label' => 'Child #2',
                         'controller' => 'index',
                         'action' => 'child2',
                         *'route' => 'application/default'*
                     )
                 ),
             ),
             array(
                 'label' => 'Page #2',
                 'controller' => 'index',
                 'action' => 'page2',
                * 'route' => 'application/default'*
             ),
         ),
     ),
[...]

Cheers!



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