You are right. Until just last week, in the Authentic theme they were called Staff Types. They work the same way though. Add your staff members to the types and then add the types to your navigation. That should do it.
You can add them directly to the navigation. WordPress likes to hide things automatically to keep them “neat.” To make them visible, go to the Appearance section and select Menus. Click the “Screen Options” in the top right hand corner and make sure the box next to Staff Types is checked. Then they should appear in the left hand column along with pages and categories. You can add them directly to your navigation from there.
As a good rule of thumb if you can’t find something on a WordPress screen that should be there, check in screen options as it may be hidden.