@RWahlgreen no worries - you don’t have to redo everything, all you need to do is modify the URL for the child pages to include /parent/child so that the connection is made.
HubSpot will automatically create a redirect from /child to /parent/child when you update the page if it’s live.
It is a somewhat hidden feature because it happens automatically based on the URL and it certainly isn’t clear that you can add /parent/child/another-child to the page slug, but hopefully now you can get the structure cleaned up to work best for your content!