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];
}

On the storyboard, for your Navigation Controller change the "Bar Tint" to its "Default" value, then on your code you can change it as you normally would.

Apple finally fixed it in version 11.4.1

https://developer.apple.com/documentation/xcode_release_notes/xcode_11_4_1_release_notes