Yeah, it's a huge criticism of SS, and they're well aware of the need for it. Like I said, there is a functional branch of SS that uses nested URLs. I don't have any experience with it, but apparently they're going to merge it into the trunk in 2.4. I think.
That said, the URL is set up to take arbitrary parameters using /action/ID/OtherID for your controllers by default, or you can set up your own implementations for URL rules. But the idea of /parent-url-segment/child-url-segment is not native.
Glad you're liking SS. It's definitely a breath of fresh air, especially for a programmer. Doesn't box you in the way Drupal does. I just gives you a framework to use, and you can make what you want with it. I really like their philosophy in that regard. Not to mention it's rigidly MVC, and last time I looked into Drupal, I wanted to bang my head looking at all those print() statements in the "templates". Ugh!
Send you an email. Will remove your last post to keep the spam bots away. Good luck!