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I had his sim check a few other sites like novell (absolutely gorgeous menus) and dhtmlcentral - it couldn't follow them either. At both of these sites, the internal pages did have pr and were in the google index - there weren't any text or image links to these pages and no sitemap, so I have to conclude that googlebot did successfully spider them.
Search to see how many pages from your site are listed in Google to get an idea if it has craweled your site.
Google Search:
site:www.yourdomain.com www.yourdomain.com
Also, check your server log on a daily basis. Search the log for "googlebot". You'll be able to view what the bot has followed.
Also, what about providing "text based links" at the bottom of your page(s) to provide GoogleBot with a way to follow your site? What about using text links in the body of your page to allow the GoogleBot to follow your site?
Providing a site map page is a solution, but it will not distribute PR from page to page in a beneficial way. This is because that one site map page will have it's PR divided up among all the pages it's linked to.
Instead, reconsider using the DHTML menu! It's pretty, but is it worth loosing all that potential traffic from Google?