CustomizingNavigationDrawer1

activity_main.xml

<androidx.drawerlayout.widget.DrawerLayout
    ...
    android:layout_height="match_parent"
    android:background="@drawable/side_nav_bar"               <--- added a picture background background here
    android:fitsSystemWindows="true"
    tools:openDrawer="start">
    
    ...

     <include
            layout="@layout/app_bar_main"
            android:layout_width="match_parent"
            android:layout_height="match_parent" />

    <com.google.android.material.navigation.NavigationView
        ...
        android:fitsSystemWindows="false"
        app:headerLayout="@layout/nav_header_main"
        app:itemIconTint="#fff"                              <---- added white color for the icons here
        app:itemTextColor="#fff"                             <---- added white color for the text here
        android:background="@android:color/transparent"         
        app:menu="@menu/activity_main_drawer" />
    .... 
</>
        

MainActivity.java

public class MainActivity extends AppCompatActivity
        implements NavigationView.OnNavigationItemSelectedListener {

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        
        ...
      
        drawer.setScrimColor(Color.TRANSPARENT);   //cleared the scrim color: scrim is the light shade that appear on our content view while sliding
        toggle.syncState();
        ...
    }
        ...
}