Xcode 11.4. Navigation’s Title Color gone BLACK from storyboard

This fixed it for me, using UINavigationBarAppearance instead, from: Customizing Your App’s Navigation Bar

if #available(iOS 13.0, *) {
    let appearance = UINavigationBarAppearance()
    appearance.configureWithOpaqueBackground()
    appearance.backgroundColor = UIColor.black
    appearance.titleTextAttributes = [.foregroundColor: UIColor.white] // With a red background, make the title more readable.
    self.navigationBar.standardAppearance = appearance
    self.navigationBar.scrollEdgeAppearance = appearance
    self.navigationBar.compactAppearance = appearance // For iPhone small navigation bar in landscape.
} else {
    self.navigationBar.barTintColor = UIColor.black
    self.navigationBar.tintColor = UIColor.white
    self.navigationBar.titleTextAttributes = [.foregroundColor: UIColor.white]
}

Note: I subclassed UINavigationController, and this was called from the override of viewWillAppear.

…or for AppDelegate, app-wide:

if #available(iOS 13.0, *) {
    let appearance = UINavigationBarAppearance()
    appearance.configureWithOpaqueBackground()
    appearance.backgroundColor = UIColor.black
    appearance.titleTextAttributes = [
        NSAttributedStringKey.foregroundColor: UIColor.white
    ]

    let buttonAppearance = UIBarButtonItemAppearance()
    buttonAppearance.normal.titleTextAttributes = [.foregroundColor: UIColor.white]
    appearance.buttonAppearance = buttonAppearance

    UINavigationBar.appearance().standardAppearance = appearance
    UINavigationBar.appearance().scrollEdgeAppearance = appearance
    UINavigationBar.appearance().compactAppearance = appearance

    UIBarButtonItem.appearance().tintColor = UIColor.white
} else {
    UINavigationBar.appearance().barTintColor = UIColor.black
    UINavigationBar.appearance().titleTextAttributes = [
        NSAttributedStringKey.foregroundColor: UIColor.white
    ]
    UINavigationBar.appearance().tintColor = UIColor.white

    UIBarButtonItem.appearance().tintColor = UIColor.white
}

…for AppDelegate, app-wide, in Objective-C:

if (@available(iOS 13, *)) {
    UINavigationBarAppearance *appearance = [[UINavigationBarAppearance alloc] init];
    [appearance configureWithOpaqueBackground];
    appearance.backgroundColor = UIColor.whiteColor;
    appearance.titleTextAttributes = titleAttributes;

    UIBarButtonItemAppearance *buttonAppearance = [[UIBarButtonItemAppearance alloc] init];
    buttonAppearance.normal.titleTextAttributes = barButtonItemAttributes;
    appearance.buttonAppearance = buttonAppearance;

    UINavigationBar.appearance.standardAppearance = appearance;
    UINavigationBar.appearance.scrollEdgeAppearance = appearance;
    UINavigationBar.appearance.compactAppearance = appearance;

    [[UINavigationBar appearance] setTintColor:UIColor.blackColor];
} else {
    [[UINavigationBar appearance] setBarTintColor:UIColor.whiteColor];
    [[UINavigationBar appearance] setTintColor:UIColor.blackColor];
    [[UINavigationBar appearance] setTranslucent:false];
    [[UINavigationBar appearance] setTitleTextAttributes: titleAttributes];
    [[UIBarButtonItem appearance] setTitleTextAttributes:barButtonItemAttributes forState:UIControlStateNormal];
}