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"but after you click Control+L and go to the input box you CAN'T go back to the path navigation on the same window without reloading a new window."
Press escape. Yes, there should be a "close" button next to "Location", but the most obvious key shortcut works.
In addition to a little "x" beside the location bar, I'd also like to see the location bar open up when you type "/" in the main nautilus window, much as you do with the file selector.