This is impossible in JIRA Agile. If you notice, only standard (parent) issues are displayed in Plan mode while sub-tasks are not. The idea behind is to take into account the original estimate of parent issues only. However, remaining estimate of sub-tasks will be cumulated into parent's remaining estimate, which will be used for time tracking in Work mode, where the sub-tasks are visible. So basically:
You can read more about this here.
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