How to compose ParamList for nested navigators in v5?

Say I have two navigators like this:

export type RootStackParamList = {  Bootstrap: undefined;  Login: undefined;  MainApp: undefined;};export type MainTabsParamList = {  Explore: undefined;  Profile: undefined;};const MainTabs = createBottomTabNavigator<MainTabsParamList>();const MainApp = () => (<MainTabs.Navigator ><MainTabs.Screen      name="Explore"      component={Explore}    /><MainTabs.Screen      name="Profile"      component={Profile}    /></MainTabs.Navigator>);const RootStack = createStackNavigator<RootStackParamList>();const App = () => {  return (<NavigationContainer><RootStack.Navigator initialRouteName="Bootstrap" headerMode="none"><RootStack.Screen name="Bootstrap" component={Bootstrap} /><RootStack.Screen name="Login" component={Login} /><RootStack.Screen name="MainApp" component={MainApp} /></RootStack.Navigator></NavigationContainer>  );};

Now if I want to navigate to Profile screen from Bootstrap screen. I have to write: (navigation prop properly annotated)

navigation.navigate('MainApp', {screen: 'Profile'})

But typescript gives error here. Saying Type '{ screen: string; }' is not assignable to type 'undefined'. This is because typescript doesn't know MainApp has child screens. So I have to somehow compose the ParamLists so typescript knows about the child screens. How do I do that? Does react-navigation v5 support that?