android:windowTranslucentNavigation does one thing that android:statusBarColor doesn’t do, which is requesting the SYSTEM_UI_FLAG_LAYOUT_STABLE and SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN flags.
These are the ones that you need to request in order to draw behind the status bar.
Request them in the onCreate of your Activity:
getWindow().getDecorView().setSystemUiVisibility(View.SYSTEM_UI_FLAG_LAYOUT_STABLE | View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN);
Alternatively you can also simply set your apps theme background and that will also pop up behind your status bar.
More information here.