Trying to get a tree menu out of a taxonomy

For a site I'm making, I have what seems like a very simple requirement: Display a hierarchical menu of all the terms in a certain taxonomy, and links to all the pages under those terms. This site will be administered by a non-technical person, so I don't want to create a menu manually because there is a possibility the menu will become desynced from the content (especially since creating a menu item for a new page is not automatic).

So far I have found two modules that looked promising: Taxonomy_menu and Category. But each one has issues that make me wary of implementing. Taxonomy_menu does not play well with the Pathauto module, which I am using. And the developers of Category explicitly warn you not to use the menu-managing component, due to several long-standing bugs which are apparently serious enough to merit a big bold warning at the top of the page.

So, does anybody have a suggestion as to how I should go about this? All I need is a simple tree menu, just like the ones you can make with the built-in menu module. As long as the stability is good, I am open to recommendations.