In prepareForSegue access the target navigation controller, and then its top:
let destinationNavigationController = segue.destination as! UINavigationController
let targetController = destinationNavigationController.topViewController
From the target controller you can access its view and pass data.
In old – now obsolete – versions of Swift and UIKit the code was slightly different:
let destinationNavigationController = segue.destinationViewController as UINavigationController
let targetController = destinationNavigationController.topViewController