This doesn’t seem terribly efficient but you could just look up the next/prev posts in the loop used to display the post then output the post titles in the nav calls.
// loop
if ( have_posts() ) : while ( have_posts() ) : the_post();
// ... post display
// next & prev post data
$older = get_previous_post();
$newer = get_next_post();
endwhile; endif;
// pagination
next_posts_link( $older->post_name );
previous_posts_link( $newer->post_name );
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