I've reached a limited success, based in http://kv5r.com/wordpress-and-hoverintent/ and your own code.
This is the code to append in functions.php for atahualpa:
function enq_hoverIntent() { wp_enqueue_script('hoverIntent'); }
add_action('wp_enqueue_scripts', 'enq_hoverIntent');
function init_hoverIntent() { ?>
<script type='text/javascript'>
jQuery(document).ready(function(){
jQuery('#rmenu2 > li.rMenu-expand').hoverIntent({
over : navover,
out : navout,
timeout : 500
});
function navover(){
jQuery(this).find('ul.rMenu-ver:first')
.css({"display":"block","position":"absolute"});
jQuery(this).find('ul.rMenu-ver:first li')
.css({"display":"none"}).show();
}
function navout(){
jQuery(this).find('ul.rMenu-ver:first')
.css("display","block");
jQuery(this).find('ul.rMenu-ver:first li')
.css("display","block").hide();
jQuery(this).find('ul.rMenu-ver:first')
.hide();
}
});
</script>
<?php }
add_action('wp_head', 'init_hoverIntent');
Note that I've only applied the hoverintent to the first level of submenus (#rmenu2 > li.rMenu-expand). You can change it at your own.
I've added the following CSS to the general rules also, in order to disable the default behaviour at the main level of the menu.
#rmenu2>li:hover>ul{display:none;}