WPF MVVM: How do ViewModels communicate with each other?
One way to have disconnected ViewModels communicate to each other is to use a publish / subscribe mechanism such as PRISMs EventAggregator. However, in a parent / child ViewModel relationship, I think it's fine for the parent to have direct knowledge and control over the child ViewModel.
Personally, I don't think composing a ViewModel out of other ViewModels is a bad practice. I do it all the time. I generally favor composition over inheritance in my ViewModels.