I've opened a PR here that adds an optional new XForm appearance for groups. This appearance would allow groups to be designated as "visible" so they show up on the jump screen (FormHierarchyActivity). You can then click on the group to see its children.
Normally groups are invisible to the user, but with this new appearance, they become a selectable item in the jump screen. All children of the group are then hidden from the main screen, and will be shown on the inner screen instead, effectively giving these visible groups the exact same navigation behavior as existing repeatable groups.
Some folks want non-repeat groups on a separate screen so that the grouped questions don't push other important items "below the fold" on the jump screen.
This is opt-in behavior, available like so:
<group appearance="hierarchy-visible"> ... </group>
The existing XForm
appearance options are here for reference.
If anyone has feedback, please feel free to reply here or to review the PR.