diff --git a/docs/CHANGELOG.txt b/docs/CHANGELOG.txt
index 3e2d6098..8679fe12 100644
--- a/docs/CHANGELOG.txt
+++ b/docs/CHANGELOG.txt
@@ -43,9 +43,10 @@ Other Changes:
 - Scrolling: Fix scroll snapping on edge of scroll region when both scrollbars are enabled.
 - Scrolling: Fix mouse wheel axis swap when using SHIFT on macOS (system already does it). (#4010)
 - Window: Fix IsWindowAppearing() from returning true twice in most cases. (#3982, #1497, #1061)
-- Nav: Fixed using SetItemDefaultFocus() on windows with _NavFlattened flag.
-- Nav: Fixed toggling menu layer while an InputText() is active not stealing active id.
+- Nav: Fixed toggling menu layer while an InputText() is active not stealing active id. (#787)
+- Nav: Fixed pressing Escape to leave menu layer while in a popup or child window. (#787)
 - Nav, InputText: Fixed accidental menu toggling while typing non-ascii characters using AltGR. [@rokups] (#370)
+- Nav: Fixed using SetItemDefaultFocus() on windows with _NavFlattened flag. (#787)
 - Tables: Expose TableSetColumnEnabled() in public api. (#3935)
 - Tables: Better preserve widths when columns count changes. (#4046)
 - TabBar: Fixed mouse reordering with very fast movements (e.g. crossing multiple tabs in a single
diff --git a/imgui.cpp b/imgui.cpp
index cad4922b..18364c78 100644
--- a/imgui.cpp
+++ b/imgui.cpp
@@ -9114,6 +9114,11 @@ static void ImGui::NavUpdate()
             if (!IsActiveIdUsingNavInput(ImGuiNavInput_Cancel))
                 ClearActiveID();
         }
+        else if (g.NavLayer != ImGuiNavLayer_Main)
+        {
+            // Leave the "menu" layer
+            NavRestoreLayer(ImGuiNavLayer_Main);
+        }
         else if (g.NavWindow && g.NavWindow != g.NavWindow->RootWindow && !(g.NavWindow->Flags & ImGuiWindowFlags_Popup) && g.NavWindow->ParentWindow)
         {
             // Exit child window
@@ -9130,11 +9135,6 @@ static void ImGui::NavUpdate()
             if (!(g.OpenPopupStack.back().Window->Flags & ImGuiWindowFlags_Modal))
                 ClosePopupToLevel(g.OpenPopupStack.Size - 1, true);
         }
-        else if (g.NavLayer != ImGuiNavLayer_Main)
-        {
-            // Leave the "menu" layer
-            NavRestoreLayer(ImGuiNavLayer_Main);
-        }
         else
         {
             // Clear NavLastId for popups but keep it for regular child window so we can leave one and come back where we were
diff --git a/imgui.h b/imgui.h
index ee36cfd6..a72ed3f7 100644
--- a/imgui.h
+++ b/imgui.h
@@ -61,7 +61,7 @@ Index of this file:
 // Version
 // (Integer encoded as XYYZZ for use in #if preprocessor conditionals. Work in progress versions typically starts at XYY99 then bounce up to XYY00, XYY01 etc. when release tagging happens)
 #define IMGUI_VERSION               "1.83 WIP"
-#define IMGUI_VERSION_NUM           18205
+#define IMGUI_VERSION_NUM           18206
 #define IMGUI_CHECKVERSION()        ImGui::DebugCheckVersionAndDataLayout(IMGUI_VERSION, sizeof(ImGuiIO), sizeof(ImGuiStyle), sizeof(ImVec2), sizeof(ImVec4), sizeof(ImDrawVert), sizeof(ImDrawIdx))
 #define IMGUI_HAS_TABLE