I don't think there is a way to accomplish that, at least directly.
That said,we currently have implemented what you have described. But in our case, we have a web portal, which shows workbooks using embed script, users never get access to the default tableau server portal.
This way, in the embed script there is a parameter to turn off 'tabs'. So, user would never see the tabs, (nor would they see the "views" thumbnails, as default portal access is blocked) however they would be able to navigate/drill down in to detail sheets and back to summary sheets, all within iframe, and they would never know which tab they are on, all they see is a spinning wheel and some data views, in and out.
But again, this is not be possible to accomplish in a default server setting. Unless there are other solutions I am unaware of.