In iOS13 the status bar background colour is different from the navigation bar in large text mode

No hacks or funkiness required here. The key is defining the desired appearance and setting this value on BOTH the nav bar's standardAppearance AND its scrollEdgeAppearance. I have the following in the init for my base navigation controller subclass for my entire app:

if #available(iOS 13.0, *) {
    let navBarAppearance = UINavigationBarAppearance()
    navBarAppearance.configureWithOpaqueBackground()
    navBarAppearance.titleTextAttributes = [.foregroundColor: UIColor.white]
    navBarAppearance.largeTitleTextAttributes = [.foregroundColor: UIColor.white]
    navBarAppearance.backgroundColor = <insert your color here>
    navigationBar.standardAppearance = navBarAppearance
    navigationBar.scrollEdgeAppearance = navBarAppearance
}

On iOS 13, navigation bars using large title have a transparent color per Apple human interface guidelines. See more infos here:

In iOS 13 and later, a large title navigation bar doesn’t include a background material or shadow by default. Also, a large title transitions to a standard title as people begin scrolling the content

If the problem is that you'd like to give the navigation bar a color when the large title is showing, use the new UINavigationBarAppearance class.

    let app = UINavigationBarAppearance()
    app.backgroundColor = .blue
    self.navigationController?.navigationBar.scrollEdgeAppearance = app