Valid ports for minikube of type nodePort by default are 30000-32767 according to https://kubernetes.io/docs/concepts/services-networking/service/#nodeport
I was able to specify a particular port (here: 30000 in that range using this services.yaml:
apiVersion: v1
kind: Service
metadata:
name: my-deployment
labels:
app: my-deployment
spec:
type: NodePort
ports:
- port: 80
targetPort: 80
nodePort: 30000
protocol: TCP
selector:
app: my-deployment
When starting minikube this way:
minikube start --extra-config=apiserver.service-node-port-range=80-30000, port 80 can be used as well:
apiVersion: v1
kind: Service
metadata:
name: my-deployment
labels:
app: my-deployment
spec:
type: NodePort
ports:
- port: 80
targetPort: 80
nodePort: 80
protocol: TCP
selector:
app: my-deployment
minikube service my-deployment --url now returns http://192.168.99.100:80 as expected and the application is available on port 80.