How to segue to a specific view controller inside a tab bar controller with losing the tab bar?

Currently I have a tab bar controller that is connected to various navigation controllers like this: I'm trying to navigate from one view controller to another view controller that is in a separate navigation controller. The only way I've been able to figure out how to keep the tab bar from disappearing is to create a modal segue to the original tab bar controller. The only problem doing this it automatically goes to the default tab bar viewcontroller and not the one I'm trying to reach.