1st way
You can check iOS version and add custom status bar like this -> 
override func viewDidAppear(_ animated: Bool) {
    if #available(iOS 13, *) {
        let statusBar = UIView(frame: (UIApplication.shared.keyWindow?.windowScene?.statusBarManager?.statusBarFrame)!)
        statusBar.backgroundColor = .systemBackground
        UIApplication.shared.keyWindow?.addSubview(statusBar)
    }
}
2nd way
You can customize UINavigationBarAppearance
if #available(iOS 13.0, *) {
    let navBarAppearance = UINavigationBarAppearance()
    navBarAppearance.configureWithOpaqueBackground()
    navBarAppearance.titleTextAttributes = [.foregroundColor: UIColor.white]
    navBarAppearance.largeTitleTextAttributes = [.foregroundColor: UIColor.white]
    navBarAppearance.backgroundColor = <yourColor>
    navigationBar.standardAppearance = navBarAppearance
    navigationBar.scrollEdgeAppearance = navBarAppearance
}