Remove sequential number from permalinks

I don’t know if you can use pages for your purpose, but as in the comments in wp-includes/post.php line 3701 (in the wp_unique_post_slug function), you can use identical slugs for pages in different trees:

/*
 * Page slugs must be unique within their own trees. Pages are in a separate
 * namespace than posts so page slugs are allowed to overlap post slugs.
 */

There seems to have been a plugin for what you want a few years ago, but it has disappeared since.

Right now I don’t see a way to do it without getting at the core code.