As suggested by @TomRaine in this answer, you can add the property [routerLinkActiveOptions]="{ exact: true }"
to your element:
<nav>
<a [routerLink]="["https://stackoverflow.com/"]"
[routerLinkActive]="['nav-active']"
[routerLinkActiveOptions]="{ exact: true }">
HOME
</a>
...
</nav>