Adding to Multi Level Menus

Hello,

I know WP has an option in the menu to “automatically add new top-level pages to this menu”

However if you have pages linked hierarchy is there a way to replicate this hierarchy to the menu automatically.

Example I have 3 pages, Home,About,Contact and the top level menu is created by WP. Now if I add another page called telephone and link it to a parent page (ie Contact) is there a way for the menu to update this automatically instead of having to manually drag the telephone page and drop on Contact and save the menu.

Thanks