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Libreoffice 7.1 on Debian 10.

I've created a form with a subform, and I would like to have two navigation bars: one for the main form and one for the subform - is that possible? The documentation doesn't seem to say it is, which probably means it isn't.

There is a navigation control which can be attached to the form like an ordinary control. You need the form navigator which can be found on toolbar "Form Design". Click the (sub-)form in the form navigator and then draw the navi control. In case of error you can also drag around from controls between forms. This tool makes it easier to select form controls and it makes it possible to create arbitrary complex hierarchies of forms and sub-sub-sub-...-forms.

The standard navigation toolbar switches between forms and subforms, depending on the focus.
In the subform's properties you can also define that the navigation toolbar refers to the parent, even when the subform has the focus.