Proof of concept more than anything else...
This (really simple) module extends the channel:entries tag to allow nested access to the channel module with var_prefixes on nested variables.
Unsupported, use with some common sense aye.
{exp:channel:entries entry_id="1" dynamic="off"}
<h1>{title} {entry_id}</h1>
{exp:nested:prep_vars var_prefix="nested_"}
{exp:nested:entries entry_id="2" dynamic="off"}
<h1>{nested_title} {nested_entry_id}</h1>
{/exp:nested:entries}
{/exp:nested:prep_vars}
{/exp:channel:entries}