Ok, this is actually fixed in my branch lp:~3v1n0/unity/panelmenu-fixes
(also if it looks  merged, new changes aren't!).

It works as it should when navigating, basically if the mouse is not moving 
while using the keyboard the menus are shown following the keyboard. Once the 
mouse has been moved, then the menu under the mouse is shown (if menus haven't 
been closed before).
This follows what also GTK menu bar does, however there's still something to 
fix: after a keyboard navigation, if a menu different to the one below the 
mouse-pointer is still opened and you click without moving the mouse, the menu 
under your mouse isn't re-opened, but it gets closed. Also if it's a minor 
thing, I guess I should work on this too.

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https://bugs.launchpad.net/bugs/834065

Title:
  Impossible to navigate between panel menus when the mouse cursor is
  over the panel

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