does RelationManager support navigating to view instead of modal view?

Solution

You can write your own Action and link to the page. You don't get hierarchy this way though.

Action::make('view')
  ->url(fn ($record) => YourResource::getUrl('view', ['record' => $record]))

Action::make('view')
  ->url(fn ($record) => YourResource::getUrl('view', ['record' => $record]))