as Nic already mentioned there is the "Subspace for Confluence" add-on. In older versions of it there was a pure space hierarchy configuration that ended up being a navigation bar on the top of each page.
The add-on itself evolved from this feature set to a more broad navigation concept in the past versions (since 3.0). So now you still have the navigationbar on each page but you are able to configure a wide range of navigation nodes like internal link, space, cql query, folder....
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