I need help with WP Menu URL path (hierarchy)

First, I searched the forum and could not find an answer to my problem.

I am working on a new WP site (installed on a Godaddy Deluxe Linux shared server). My client’s old (version of the) site has URL paths that include parent/child hierarchy (full path). Example: https://www.taylorworks.net/orlando-services/managed-service-plans

The new site must have the same type of full paths. The old site does NOT have a theme that supports menus so the designer of the site hacked into the main page.php to create the menu. The new site DOES support menus, so I am using them.

Here is the problem. Even though I have menus set up with parent/child hierarchy (for drop downs) (example: orlando-services/managed-service-plans). The new site menu page (temporary URL) does not come up as: https://184.168.178.198/taylorworks/orlando-services/managed-service-plans/
Rather, it comes up as: https://184.168.178.198/taylorworks/managed-service-plans/

I need it to include the parent dir in the URL: …orlando-services/managed-service-plans

How can I do this?

A php code change? A .htaccess rewrite addition? Something else?

Sorry this is a long post. Please help.

Thanks.