I guess we have an interesting situation here and it appears that you have got the closest workaround here. I tried to replicate the situation at my end. Here is what I have tried.
I have created a navigation bar (artboard) and made it a symbol.
I added interaction page titles.
I pasted a navigation bar with interactions to all the artboards.
As its a symbol I can make edits and it reflects across all artboards. It's just the interactions which don't change with symbols edits. Therefore, if you are able to create perfect interactions once you may be able to use the navigation bar as per your desired results.