I was looking for a menu plugin that took into account the page hierarchy, and I must say that the Advanced Menu, Sidebar is the one who has come closest of the ones I looked at. It is easy to use.
I'd like to give some suggestions on functionality and that is that the menu that is generated that the parent may be bold and a few pixels bigger. Think it will make the presentation look prettier.
Another thing I noticed and did not find any setting for, was how many levels down it would build the menu. Now it seems as if it only goes two levels down and I think it would be nice to be able to specify the number of levels it would build. I have some pages that go down 3-4 levels.
It was my proposal and I may say that it is the closest I found that suited my needs.