"Should i get node data via resourceResolver.getResource() instead of JCR Queries? Is that the meaning of "navigational access" specified in the guide ?"
Not necessarily -- you can retrieve data from the JCR using 1 of three ways:
1 - Use of JCR SQL/2 API
2 - use of QUery Builder API
3- use of SLing API.
The JCR API is the lowest level API and a lot of developers are using JCR SQL2 to retrieve data. QUeryBuilder API is built upon JCR SQL. Sling API is about retrieving resources instead of searching nodes and properties.
Read this blog for more information:
https://cqdump.wordpress.com/2012/11/06/cq5-coding-patterns-sling-vs-jcr-part-1/