I don't do this myself, but I believe that Gareth's Collapsed Topics plugins can do something like you desire. There is a "display one topic" option, when the student can choose, that then displays only one topic at a time, and allows navigation via the NavDrawer.
I have this short video that I believe demonstrates this feature.
Gareth's Collapsed Topics plugin is very powerful, and great. But because it is powerful, it takes a while to learn all its features. I have been using it since Moodle 2.0, and I love it.