In MyPackage/__init__.py, import the modules you want available from the subpackages:
from __future__ import absolute_import # Python 3 import behaviour
from .SubPackage1 import moduleA
from .SubPackage2 import moduleD
This makes both moduleA and moduleD globals in MyPackage. You can then use:
from MyPackage import moduleA
and that'll bind to the same module, or do
import MyPackage
myPackage.moduleA
to directly access that module.
However, you can't use
from MyPackage.moduleA import somename
as that requires moduleA to live directly in MyPackage; a global in the __init__ won't cut it there.