From Wplms version 2.6 tabs style feature has been added in courses .
To begin with please enable ” Tab style course layout ” from wp-admin -> wplms -> course manager :
this setting will put curriculum,custom sections ,on course home page itself and clicking on nav menu items will make you jump to that section .
Note here that some items like members,activity , events will still reload the page as these components needs their slugs(/members , /activity) to function properly .
NOTE : it will not work if your “Revert pretty permalinks” is enabled in your wp-admin -> lms-> settings .