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Does a parent page’s post_title have to appear in a child page permalink?

If I have a page called Home and then a child page with Home as the parent, is there a way to avoid ‘home’ appearing in the permalink for the child page?

I’ve noticed this with a one-page scrolling theme which asks you to set lots of pages as child pages of the homepage. From an SEO perspective, its not great to have ‘home’ in all the permalinks.

This question seems relevant but refers to categories