diff --git a/docs/CHANGELOG.txt b/docs/CHANGELOG.txt
index c1eae35b..4c524a73 100644
--- a/docs/CHANGELOG.txt
+++ b/docs/CHANGELOG.txt
@@ -51,6 +51,7 @@ Other changes:
   the hover highlight to stay even while another item is activated.
 - Nav: Fixed SetKeyboardFocusHere() not working when current nav focus is in different scope,
   regression from 1.90.1 related to code scoping Tab presses to local scope. (#7226) [@bratpilz]
+- Nav: Fixed pressing Escape while in a child window with _NavFlattened flag. (#7237)
 - Debug Tools: Metrics: Fixed debug break in SetShortcutRouting() not handling ImGuiMod_Shortcut redirect.
 - Debug Tools: Debug Log: Added "Input Routing" logging.
 - Backends: Vulkan: Fixed vkAcquireNextImageKHR() validation errors in VulkanSDK 1.3.275 by
diff --git a/imgui.cpp b/imgui.cpp
index f9297f3c..ba3c97b0 100644
--- a/imgui.cpp
+++ b/imgui.cpp
@@ -12247,15 +12247,14 @@ static void ImGui::NavUpdateCancelRequest()
         NavRestoreLayer(ImGuiNavLayer_Main);
         NavRestoreHighlightAfterMove();
     }
-    else if (g.NavWindow && g.NavWindow != g.NavWindow->RootWindow && !(g.NavWindow->Flags & ImGuiWindowFlags_Popup) && g.NavWindow->ParentWindow)
+    else if (g.NavWindow && g.NavWindow != g.NavWindow->RootWindow && !(g.NavWindow->RootWindowForNav->Flags & ImGuiWindowFlags_Popup) && g.NavWindow->RootWindowForNav->ParentWindow)
     {
         // Exit child window
-        ImGuiWindow* child_window = g.NavWindow;
-        ImGuiWindow* parent_window = g.NavWindow->ParentWindow;
+        ImGuiWindow* child_window = g.NavWindow->RootWindowForNav;
+        ImGuiWindow* parent_window = child_window->ParentWindow;
         IM_ASSERT(child_window->ChildId != 0);
-        ImRect child_rect = child_window->Rect();
         FocusWindow(parent_window);
-        SetNavID(child_window->ChildId, ImGuiNavLayer_Main, 0, WindowRectAbsToRel(parent_window, child_rect));
+        SetNavID(child_window->ChildId, ImGuiNavLayer_Main, 0, WindowRectAbsToRel(parent_window, child_window->Rect()));
         NavRestoreHighlightAfterMove();
     }
     else if (g.OpenPopupStack.Size > 0 && g.OpenPopupStack.back().Window != NULL && !(g.OpenPopupStack.back().Window->Flags & ImGuiWindowFlags_Modal))