We’ve tried both tapping a parent element that has no link set (or just a #) and one that actually links to a page and they work as intended without refreshing or following on a timeout. It holds open as long as you need to then make your decision.
The dropdowns are pure standard HTML/CSS with no hacks or JS or other gimmicks so there’s nothing to check or change in that regard.
Unfortunately, this appears to be a problem at the device level. iPhone and iPad work fine.
We’re unable to find any resources on Galaxy tapping, why it would work differently from other popular devices or how to adjust those settings.
One popular option that many use for their mobile menu is to simply hide sub-menus, which would be a possible solution:
@media all and (max-width:767px){.sub-menu, .children{display:none !important}#menu a{background-image:none !important}}