The first level links work great, however in the slick map mode, all the 2nd level+ children are not linked correctly.
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Fixed, for Silverstripe 2.4, I'm down with the code.
In SiteMapModule.php (line 185).
the old version without nested urls
$output .= '
<li><a href="'.$page->URLSegment.'" title="Go to the '.Convert::raw2xml($page->Title).' page">'.Convert::raw2xml($page->MenuTitle).'</a>';
to this 2.4 version
$output .= '
<li><a href="'.$page->Link().'" title="Go to the '.Convert::raw2xml($page->Title).' page">'.Convert::raw2xml($page->MenuTitle).'</a>';
Thanks to this post on the forum http://www.silverstripe.org/data-model-questions/show/281864?start=0#post283190
You should get in touch with the module maintainer - DesignCity (http://designcity.com.au/) and see if he can update it (if he hasn't already). Not everyone catches every thread on the forum :D