This gist shows how to create a custom titleView to use correctly in any UINavigationController (UINavigationItem)

CustomTitleView.swift

// CustomitleView
// 
//  Created by Marcelo Perretta on 21/04/2022.
//

import UIKit

class CustomTitleView: UIView {
    private let elementsDistance: CGFloat = 5.0
    private let iconSize: CGFloat = 25.0

    private lazy var icon: UIImageView = {
        let downloadableImage = UIImageView()
        downloadableImage.contentMode = .scaleAspectFill
        downloadableImage.clipsToBounds = true
        downloadableImage.backgroundColor = .tertiarySystemBackground
        downloadableImage.translatesAutoresizingMaskIntoConstraints = false
        return downloadableImage
    }()

    private lazy var title: UILabel = {
        let label = UILabel()
        label.numberOfLines = 1
        label.translatesAutoresizingMaskIntoConstraints = false
        return label
    }()

    // MARK: - Life cycle

    override init (frame: CGRect) {
        super.init(frame: frame)

        self.translatesAutoresizingMaskIntoConstraints = true
        self.addSubviews()
    }

    convenience init () {
        self.init(frame: .zero)
    }

    required init(coder aDecoder: NSCoder) {
            fatalError("TitleView does not support NSCoding")
        }

    private func addSubviews() {
            addSubview(icon)
            addSubview(title)
        }

    func setTitleView(with iconName: String, andTitle title: String) {

        icon.image = UIImage(string: iconName)

        title.text = title
        title.sizeToFit()

        setNeedsUpdateConstraints()
    }

    // MARK: - Layout

    override func updateConstraints() {
        removeConstraints(self.constraints)

        NSLayoutConstraint.activate([
            icon.heightAnchor.constraint(equalToConstant: iconSize),
            icon.widthAnchor.constraint(equalToConstant: iconSize),
            icon.leadingAnchor.constraint(equalTo: self.leadingAnchor),
            icon.centerYAnchor.constraint(equalTo: centerYAnchor),

            title.leadingAnchor.constraint(equalTo: icon.trailingAnchor, constant: elementsDistance),
            title.trailingAnchor.constraint(equalTo: self.trailingAnchor),
            title.topAnchor.constraint(equalTo: topAnchor),
            title.bottomAnchor.constraint(equalTo: bottomAnchor)
        ])

        super.updateConstraints()
    }

    override func sizeThatFits(_ size: CGSize) -> CGSize {
        // +8.0 - distance between image and text
        let width = icon.bounds.width + title.bounds.width + elementsDistance
        let height = max(icon.bounds.height, title.bounds.height)
        return CGSize(width: width, height: height)
    }
}

TestVC.swift

// How to use it

// on ViewController 
import UIKit

class TestVC: UIViewController {
  private lazy var customTitleView: CustomTitleView = {
        return CustomTitleView()
    }()
  
  override func viewDidLoad() {
        super.viewDidLoad()
    
    navigationItem.titleView = customTitleView
            customTitleView.setTitleView(with: "My Icon", andTitle: "My Title")
            customTitleView.sizeToFit()
            self.navigationController?.navigationBar.setNeedsLayout()
  }
}