There is a new UINavigationBar property "largeTitleTextAttribute" that should help with this.

largeTitleTextAttribute

Here is a sample code you can add to your view controllers viewDidLoad method

        navigationController?.navigationBar.largeTitleTextAttributes = [NSAttributedStringKey.foregroundColor: UIColor.blue]

Here is a sample code and screenshot without the largeTitleTextAttributes set, but the barStyle is set to .black

        navigationController?.navigationBar.barStyle = .black

Here is a screenshot without the largeTitleTextAttributes set, but the barStyle is set to .default

        navigationController?.navigationBar.barStyle = .default